Micro-fiber recovery device for underwater robot

Abstract

The present application relates to underwater robot technical field, especially underwater robot with micro fiber recovery device. Including base and setting on the base control cabin, power mechanism, fiber arrangement mechanism and sensor mechanism, wherein fiber arrangement mechanism is used for storing and fiber arrangement operation to micro fiber in recovery stage, power mechanism is connected with fiber arrangement mechanism, power mechanism is used for the recovery and fiber arrangement of micro fiber provides the required power;Sensor mechanism is used for real-time collection micro fiber tension data and output;Control cabin is used for receiving the tension data of micro fiber sent by sensor mechanism, and according to the tension data of micro fiber, the recovery rotating speed of power mechanism is regulated. The present application realizes real-time monitoring and accurate management of micro fiber, can realize efficient recovery of micro fiber, avoids the pollution of micro fiber to the ocean.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of underwater robots, in particular to a micro-fiber recovery device for underwater robots. BACKGROUND

[0002] With the growing demand for ocean science research and underwater operations, ARV (Autonomous and Remotely-operated Vehicle) as a new type of underwater robot with both remote control and autonomous operation capabilities has received widespread attention. In actual use, ARV needs to establish a stable data transmission channel with the control center through micro-fiber. Through micro-fiber transmission, the operator can remotely control the navigation trajectory, mechanical arm operation and other functions of ARV, and receive various data feedback from ARV in real time. However, when ARV completes the task and is ready for recovery, in order to ensure that it can float smoothly and not be interfered by the micro-fiber, the micro-fiber usually needs to be cut off. The cut-off and discarded micro-fiber in seawater is a kind of solid waste that is difficult to degrade naturally, causing serious harm to the marine ecological environment. These micro-fibers will entangle the habitats such as coral reefs and seaweed beds after floating or sinking in seawater, destroy the ecological function, and affect the survival and reproduction of marine organisms. Marine organisms are easily entangled by micro-fiber when swimming, leading to injury, limited movement or even death, and small organisms may also mistake micro-fiber fragments for food, causing damage to the digestive system. Therefore, solving the problem of micro-fiber recovery is of great significance to the protection of marine environment.

[0003] In view of the importance of micro-fiber in ARV operation and its potential harm to the marine environment, it is urgent to develop an effective micro-fiber recovery device. SUMMARY

[0004] In view of the above problems, the purpose of the present application is to provide a micro-fiber recovery device for underwater robots, which can realize efficient recovery of micro-fiber and avoid pollution of the ocean by micro-fiber.

[0005] In order to achieve the above purpose, the present application adopts the following technical solutions:

[0006] The present application provides a micro-fiber recovery device for underwater robots, comprising a base, a control cabin, a power mechanism, a fiber discharge mechanism and a sensor mechanism arranged on the base, wherein the fiber discharge mechanism is used for storing and discharging micro-fiber during the recovery stage, the power mechanism is connected with the fiber discharge mechanism, and the power mechanism provides the required power for the recovery and discharge of micro-fiber; the sensor mechanism is used for real-time collection and output of the tension data of micro-fiber; the control cabin is used for receiving the tension data of micro-fiber sent by the sensor mechanism, and adjusting the recovery speed of the power mechanism according to the tension data of micro-fiber.

[0007] The fiber arranging mechanism comprises a fiber arranging support frame, a reel assembly and a fiber arranging assembly, the reel assembly is used for recycling and storing the micro optical fiber, and the fiber arranging assembly is located below the reel assembly and is used for arranging the micro optical fiber during the recycling process.

[0008] The reel assembly comprises a driving shaft, a reel, a blade and a blade pressing plate, the driving shaft is rotatably installed on the fiber arranging support frame, one end of the driving shaft is connected with the power mechanism, the reel is detachably sleeved on the driving shaft and rotates with the driving shaft, the driving shaft and the reel are provided with corresponding wire passing holes, the blade is installed on one side of the wire passing hole of the driving shaft through the blade pressing plate, and the micro optical fiber is cut off after passing through the blade when the reel is detached from the driving shaft.

[0009] One end of the reel is clamped on the driving shaft to limit the axial movement in one direction, and the reel can rotate with the driving shaft, and the other end of the reel is axially fixed by a snap spring to limit the axial movement in the other direction.

[0010] The fiber arranging assembly comprises a lead screw nut, a guide support, a reciprocating screw and sliding guide rods arranged in parallel on both sides of the reciprocating screw, the reciprocating screw is rotatably installed on the fiber arranging support frame, and one end of the reciprocating screw is connected with the power mechanism, the reciprocating screw is threadedly connected with the lead screw nut, the lead screw nut is in sliding fit with the sliding guide rods on both sides, the lead screw nut is provided with the guide support, the guide support is provided with a guide hole for the micro optical fiber to pass through, and the reciprocating screw rotates to drive the guide support to reciprocate linearly, so that the micro optical fiber is arranged.

[0011] The power mechanism comprises an underwater recovery motor, a shaft coupling, a driving sprocket, a motor support, a driven sprocket and a chain, the motor support is arranged on the base, the underwater recovery motor is installed on the motor support, the output end of the underwater recovery motor is connected with the driving shaft through the shaft coupling, and the driving sprocket is arranged on the driving shaft; the driven sprocket is arranged on the reciprocating screw and is in transmission connection with the driving sprocket through the chain, and the underwater recovery motor provides power for the rotation of the driving shaft and the reciprocating screw.

[0012] The diameter of the driving sprocket is smaller than the diameter of the driven sprocket.

[0013] The sensor mechanism comprises a sensor support, a tension sensor and three anti-jumping line guide wheels, the tension sensor is installed at the bottom of the base through the sensor support, one anti-jumping line guide wheel is installed on the tension sensor, and the other two anti-jumping line guide wheels are installed on the sensor support and are located above and below the tension sensor respectively, and the micro optical fiber forms a fixed included angle after passing through the three anti-jumping line guide wheels in sequence and being tensioned.

[0014] The advantages and beneficial effects of the present application are that the present application realizes safe and reliable micro-fiber recovery. The present application fully considers the operation safety of underwater robots and the reliability of micro-fiber recovery in design. During the recovery process, the device can operate independently and does not interfere with the recovery operation of the ARV. The precise control and real-time monitoring of the micro-fiber can ensure the quality of the micro-fiber recovery. The device is built-in with multiple safety protection mechanisms, such as overload protection and emergency stop function, which can quickly respond and take measures in abnormal conditions to ensure the safety of the equipment.

[0015] The present application has strong universality and can be widely used in various devices that need to recover micro-fiber. The design fully considers the interface standards and operation requirements of different devices and can be integrated into various underwater robots, ocean monitoring devices and other systems that need micro-fiber recovery. In addition, the recovery device of the present application adopts a compact volume design, occupies a small space and can adapt to various space-limited device environments. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 is a perspective view of the micro-fiber recovery device for underwater robots according to the present application;

[0017] Figure 2 is a top view of the micro-fiber recovery device for underwater robots according to the present application;

[0018] Figure 3 is a left view of the micro-fiber recovery device for underwater robots according to the present application;

[0019] Figure 4 is a schematic diagram of the micro-fiber wiring according to the present application.

[0020] Wherein: 1 is an underwater recovery motor, 2 is a shaft coupling, 3 is a driving sprocket, 4 is a sliding guide rod, 5 is a screw nut, 6 is a reciprocating screw, 7 is bearing A, 8 is a control cabin, 9 is a control cabin support, 10 is a motor support, 11 is a driven sprocket, 12 is a chain, 13 is a screw support A, 14 is a reel support A, 15 is a guide support, 16 is a screw support B, 17 is a reel support B, 18 is an axle end retainer, 19 is a sensor support, 20 is a tension sensor, 21 is a anti-jumping wire guide wheel, 22 is a micro-fiber, 23 is a driving shaft, 24 is a blade, 25 is a blade pressing plate, 26 is a reel, 27 is a clamping spring, 28 is bearing B, and 29 is a base. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be described in detail below in combination with the drawings and specific embodiments.

[0022] Reference Figures 1 to 4As shown, the present application provides a micro-fiber recovery device for underwater robots, which comprises a base 29, a control cabin 8, a power mechanism, a fiber arranging mechanism and a sensor mechanism arranged on the base 29, wherein the fiber arranging mechanism is used for storing and arranging the micro-fiber 22 during the recovery stage, the power mechanism is connected with the fiber arranging mechanism and is used for providing the power required by the recovery and arranging of the micro-fiber 22; the sensor mechanism is used for collecting the tension data of the micro-fiber 22 in real time and outputting; the control cabin 8 is installed on the base 29 through a control cabin support 9, and is used for receiving the tension data of the micro-fiber 22 sent by the sensor mechanism and adjusting the recovery rotating speed of the power mechanism according to the tension data of the micro-fiber 22.

[0023] In the embodiment of the present application, the fiber arranging mechanism comprises a fiber arranging support, a winding drum assembly and a fiber arranging assembly arranged on the fiber arranging support, the winding drum assembly is used for storing the micro-fiber 22, and the fiber arranging assembly is located below the winding drum assembly and is used for arranging the micro-fiber 22 during the recovery process.

[0024] Referring to Figure 2 As shown, in the embodiment of the present application, the winding drum assembly comprises a driving shaft 23, a winding drum 26, a blade 24 and a blade pressing plate 25, wherein the driving shaft 23 is rotatably installed on the fiber arranging support and is connected with the power mechanism at one end, the winding drum 26 is detachably sleeved on the driving shaft 23 and rotates with the driving shaft 23; the driving shaft 23 and the winding drum 26 are provided with corresponding wire passing holes, which are used for passing the micro-fiber 22; the blade 24 is installed on one side of the wire passing hole of the driving shaft 23 through the blade pressing plate 25; when the winding drum 26 is detached from the driving shaft 23, the micro-fiber 22 is cut off after passing through the blade 24.

[0025] Specifically, one end of the winding drum 26 is clamped on the driving shaft 23 to limit the axial movement of the winding drum 26 in one direction, and the winding drum 26 can rotate with the driving shaft 23, and the other end of the winding drum 26 is axially fixed by a snap spring 27 to limit the axial movement of the winding drum 26 in the other direction.

[0026] Referring to Figure 1 As shown, in the embodiment of the present application, the fiber arranging assembly comprises a lead screw nut 5, a guide support 15, a reciprocating lead screw 6 and sliding guide rods 4 arranged in parallel on both sides of the reciprocating lead screw 6, wherein the reciprocating lead screw 6 is rotatably installed on the fiber arranging support and is connected with the power mechanism at one end; the reciprocating lead screw 6 is threadedly connected with the lead screw nut 5, the lead screw nut 5 is slidably connected with the sliding guide rods 4 on both sides, the lead screw nut 5 is provided with the guide support 15, the guide support 15 is provided with a guide hole for the micro-fiber 22 to pass through; the reciprocating lead screw 6 rotates to drive the guide support 15 to move linearly reciprocally, thereby realizing the arranging of the micro-fiber 22.

[0027] Specifically, the fiber arranging support frame comprises a screw rod support A3, a screw rod support B16, a reel support A14 and a reel support B17 mounted on the base 29, wherein the screw rod support A3 and the screw rod support B16 support two ends of the reciprocating screw rod 6 through bearings A7, and the reel support A14 and the reel support B17 support two ends of the driving shaft 23 through bearings B28.

[0028] Referring to Figure 1 As shown in the figure, in the embodiment of the present application, the power mechanism comprises an underwater recovery motor 1, a shaft coupling 2, a driving sprocket 3, a motor support 10, a driven sprocket 11 and a chain 12, wherein the motor support 10 is arranged on the base 29, the underwater recovery motor 1 is mounted on the motor support 10, and the output end of the underwater recovery motor 1 is connected with the driving shaft 23 through the shaft coupling 2, and the driving sprocket 3 is arranged on the driving shaft 23; the driven sprocket 11 is arranged on the reciprocating screw rod 6 and is axially limited through the shaft end check ring 18; the driven sprocket 11 is drivingly connected with 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 rod 6.

[0029] Further, the diameter of the driving sprocket 3 is smaller than the diameter of the driven sprocket 11.

[0030] Referring to Figure 3 and Figure 4 As shown in the figure, in the embodiment of the present application, the sensor mechanism comprises a sensor support 19, a tension sensor 20 and three anti-jumping line guide wheels 21, wherein the tension sensor 20 is mounted on the bottom of the base 29 through the sensor support 19, one anti-jumping line guide wheel 21 is mounted on the tension sensor 20, and the other two anti-jumping line guide wheels 21 are mounted on the sensor support 19 and are respectively located on the upper and lower sides of the tension sensor 20; when the micro optical fiber 22 passes through the three anti-jumping line guide wheels 21 in turn and is tensioned, a fixed included angle is formed, and the tension of the local micro optical fiber 22 can be calculated according to the designed angle and the reading of the tension sensor 20, and the tension is used to adjust the recovery speed.

[0031] In this embodiment, the control cabin 8 is fixed on the control cabin support 9 and is located below the underwater recovery motor 1 (the position of the control cabin can be changed according to the space requirement of the equipment). The control cabin 8 is arranged with a motor driver, a motor power module and a control panel for communication interaction, collecting micro optical fiber tension data and accurately controlling the rotation speed of the underwater recovery motor 1 according to the data.

[0032] The present application provides a micro optical fiber recovery device for underwater robots, and the working principle is as follows:

[0033] In the preparation stage, the micro fiber 22 is drawn out from the fiber outlet of the fiber bundle, first into a cutter, and then successively through the threading hole of the winding drum 26, the threading hole of the guide bracket 15, and through the three anti-jumping wire guide wheels 21. The preset parameters such as the breaking force of the micro fiber 22 are input in the control system, which is used to provide basis for adjusting the rotating speed of the control cabin 8.

[0034] When the underwater robot enters the water, the micro fiber recovery device also enters the water. During the release of the micro fiber 22, the micro fiber 22 can be smoothly pulled out without obstruction in the recovery device. At this time, the micro fiber recovery device can detect the local tension of the micro fiber 22 in real time and synchronously transmit the detected tension data to the display and control center.

[0035] In the recovery stage, first, the control instruction is issued, and the underwater recovery motor 1 rotates according to the preset parameters. The output shaft of the underwater recovery motor 1 is connected to the driving shaft 23 through the shaft coupling 2, thereby driving the driving shaft 23 and the driving sprocket 3 installed thereon to rotate synchronously.

[0036] On the one hand, the rotation of the driving shaft 23 directly drives the winding drum 26 installed thereon to rotate together. With the rotation of the winding drum 26, the micro fiber 22 begins to wind on the surface of the winding drum 26. The sufficient friction force between the micro fiber 22 and the winding drum 26 ensures that the micro fiber 22 is tightly and uniformly wound on the winding drum 26. After the winding drum 26 rotates for a period of time, the micro fiber 22 is wound on the winding drum 26 and forms a certain pre-tightening force, and then the shears inside the underwater robot and the shears above the fiber bundle on the water surface simultaneously cut the micro fiber 22, entering the normal recovery stage. At this time, the rotation is gradually accelerated according to the preset process, the parameters fed back by the sensor are intervened, and the feedback control of the control cabin 8 begins to adjust.

[0037] 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 lead screw 6, so that the screw nut 5 moves linearly along the sliding guide rod 4. The guide bracket 15 is fixed on the screw nut 5 by fasteners, so that the guide bracket 15 can move linearly and reciprocally synchronously with the screw nut 5. The micro fiber 22 passes through the guide hole of the guide bracket 15, and under the driving of the guide bracket 15, the micro fiber 22 moves transversely on the winding drum 26. By accurately designing the pitch of the reciprocating lead screw 6 and considering the parameters such as the thickness of the micro fiber 22, it is ensured that the micro fiber 22 can be uniformly and neatly wound on the winding drum 26, avoiding local accumulation or too dense winding, thereby realizing efficient and orderly recovery of the micro fiber 22.

[0038] In the micro fiber 22 recovery process, the tension sensor 20 monitors the tension of the micro fiber 22 in real time. When it is detected that the tension of the micro fiber 22 is less than the preset breaking force threshold, the control cabin 8 automatically adjusts the speed of the underwater recovery motor 1 to increase, so as to ensure that the tension of the micro fiber 22 in the recovery process is maintained within a reasonable range; on the contrary, when the tension of the micro fiber 22 is greater than the preset threshold, the control cabin 8 automatically reduces the speed of the underwater recovery motor 1, thereby reducing the tension of the micro fiber 22, avoiding the breakage of the micro fiber 22 due to excessive tension, and ensuring the integrity of the micro fiber 22 recovery process.

[0039] After the equipment completes the water discharge operation, it immediately enters the maintenance stage. First, the reel support B17 and the clamp spring 27 are sequentially disassembled. Then, the reel 26 is pulled outward along the axial direction of the driving shaft 23. In this process, the micro fiber 22 in the center hole of the reel 26 will be cut off by the pre-set blade 24, so that the reel 26 can be smoothly separated 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 reverse order. Thus, the entire maintenance process is completed, and the equipment returns to the standby state and can be used at any time.

[0040] The present application realizes real-time monitoring and accurate management of micro fibers. In traditional use, the stress condition of micro fibers is difficult to grasp in real time, resulting in a high risk of damage to micro fibers. The present application realizes real-time monitoring of micro fibers through a stress sensor. During the use and recovery of micro fibers, the stress condition of micro fibers can be accurately monitored, which ensures the safety of micro fibers.

[0041] The present application realizes efficient and intelligent recovery of micro fibers. The present application realizes efficient recovery of micro fibers through innovative recovery mechanism and intelligent control. Specifically, the present application can quickly and completely recover the micro fibers connected to the ARV after the ARV completes the work. In this process, the force sensor detects the stress condition of the micro fiber in real time, and automatically adjusts the recovery speed according to the detection data, so as to ensure that the micro fiber always maintains a safe and appropriate tension during the recovery process.

[0042] The present application has efficient and convenient maintenance characteristics. The present application adopts a quick dismounting and replacing spool design, which can complete the dismounting and replacing of the spool in a short time, ensures that the equipment quickly returns to a usable state, seamlessly connects subsequent work tasks, and improves the overall utilization rate and work continuity of the equipment.

[0043] The present application realizes safe and reliable micro-fiber recovery. The present application fully considers the operation safety of underwater robots and the reliability of micro-fiber recovery in design. During the recovery process, the device can operate independently and does not interfere with the recovery operation of the ARV. Accurate control and real-time monitoring of the micro-fiber can ensure the quality of micro-fiber recovery. The device is built-in with multiple safety protection mechanisms, such as overload protection and emergency stop function, which can quickly respond and take measures in abnormal conditions to ensure the safety of the equipment.

[0044] The present application has strong universality and can be widely used in various devices that need to recover micro-fiber. The design fully considers the interface standards and operation requirements of different devices and can be integrated into various underwater robots, ocean monitoring devices and other systems that need to recover micro-fiber. In addition, the recovery device of the present application adopts a compact volume design, occupies small space and can adapt to various space-limited device environments.

[0045] In summary, the micro-fiber recovery device for underwater robots provided by the present application can realize efficient recovery of micro-fiber and avoid pollution of the ocean by micro-fiber.

[0046] The above is only an embodiment of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principles of the present application is included in the protection scope of the present application.

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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