Emergency ballast release device for underwater robot

Abstract

The invention relates to the technical field of underwater robots, in particular to an underwater robot emergency ballast release device which comprises a ballast cylinder, one end of the ballast cylinder is connected with a hemispherical cover, a piston is slidably mounted on the side, away from the hemispherical cover, in the ballast cylinder, and a water inlet and outlet pipe is mounted at the end, close to the hemispherical cover, of the ballast cylinder. The water inlet and outlet pipe is in threaded connection with a threaded cover, a plurality of small through holes are evenly formed in one face of the threaded cover, two symmetrically-arranged pushing pieces are installed on the outer surface of the ballast cylinder, two symmetrically-arranged pipe cylinders are installed on the outer surface of the ballast cylinder, and the pipe cylinders are filled with powdery potassium superoxide. The two pipe barrels are communicated with the space of the side, close to the piston, in the ballast barrel, and the two pipe barrels are each provided with a water control piece used for enabling water to enter the corresponding pipe barrel. The device has the following beneficial effects that the problem of resource waste caused by the fact that components sink into the seabed after traditional ballast is released and cannot be recycled is solved, and the consumable cost in long-term operation and maintenance is greatly reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of underwater robots, in particular to an emergency ballast release device of an underwater robot. BACKGROUND

[0002] Underwater robots work in complex underwater environments and face many uncertainties. The emergency ballast release system, as the core mechanism to ensure the safe recovery of the robot, directly determines whether the robot can escape from danger in a critical scene and is the key link to maintain task continuity and equipment safety. When the robot encounters sudden conditions such as propeller failure, energy depletion, or entanglement with underwater obstacles, the conventional floating means fails, and at this time, the pre-set ballast can be discarded by triggering the ballast release device to quickly break the original buoyancy balance of the robot.

[0003] In the emergency ballast release technology system, the utility model discloses a ballast release device for underwater robot emergency, which can be applied to the ballast system of the underwater robot. When an emergency occurs during underwater operation, the ballast release device is controlled to discard the ballast by sending a command, so that the carrier platform can obtain positive buoyancy and float to a safe water area. However, this emergency floating method based on discarding ballast has certain limitations in resource utilization. Since the ballast will sink directly into the bottom of the water or drift with the water flow after being released, it is difficult to locate and recover it through conventional means due to the complexity of the underwater environment, resulting in these ballast components becoming disposable components that cannot be reused in subsequent task cycles. From the perspective of equipment operation and maintenance cost and resource environmental protection, each emergency release will produce a certain amount of component waste, increasing the consumable cost of long-term operation of the robot. How to explore recyclable ballast design and ballast materials on the basis of ensuring the reliability of emergency response has become an important direction for further optimizing the technology. SUMMARY

[0004] In view of the deficiencies in the prior art, the present application aims to provide an emergency ballast release device for an underwater robot to solve the problems raised in the background art.

[0005] In order to achieve the above object, the application is realized by the following technical scheme: an underwater robot emergency ballast release device, comprising a ballast tank, one end of the ballast tank is connected with a hemispherical cover, a piston is slidingly installed on the side of the ballast tank away from the hemispherical cover, a water inlet and outlet pipe is installed on the end of the ballast tank close to the hemispherical cover, a threaded cover is threadedly connected on the water inlet and outlet pipe, a plurality of small through holes are uniformly arranged on one side of the threaded cover, two pushers are symmetrically arranged and installed on the outer surface of the ballast tank, two pipe barrels are symmetrically arranged and installed on the outer surface of the ballast tank, the pipe barrels are filled with powdered potassium superoxide, the two pipe barrels are in communication with the space in the ballast tank close to the piston, and water control devices for allowing water to enter the pipe barrels are installed on the two pipe barrels.

[0006] Specifically, the water control device comprises a straight cylinder, the straight cylinder is installed on the two pipe barrels, one end of the straight cylinder is provided with a cylinder cover through a plurality of bolts, an electromagnet is installed on the side of the straight cylinder away from the cylinder cover, a permanent magnet ring repelling the electromagnet in the electrified state is arranged on the side of the electromagnet close to the cylinder cover, the permanent magnet ring is slidingly installed in the straight cylinder, a hollow pipe is installed in the permanent magnet ring, one end of the hollow pipe close to the electromagnet is closed, the end of the hollow pipe away from the permanent magnet ring penetrates through the cylinder cover, a bend pipe is installed on the two pipe barrels, one end of the hollow pipe outside the pipe barrel is inserted into the bend pipe, a pipe sleeve is installed on the side of the cylinder cover away from the straight cylinder, a first sealing sleeve is pasted in the pipe sleeve, the first sealing sleeve is sleeved on the hollow pipe, a water inlet hole in the initial state is arranged in the first sealing sleeve, and a second sealing sleeve is installed in the bend pipe and wrapped around the hollow pipe.

[0007] Specifically, a rubber ring is pasted on the side of the permanent magnet ring away from the electromagnet by glue, the rubber ring is sleeved on the hollow pipe and adhered to the hollow pipe, the rubber ring is slidingly installed in the straight cylinder, a blocking ring is arranged on the side of the rubber ring away from the permanent magnet ring, the blocking ring is sleeved on the hollow pipe and fixedly connected with the hollow pipe, a first compression spring is arranged between the blocking ring and the cylinder cover, and the first compression spring is sleeved on the hollow pipe.

[0008] Specifically, a small loop is sleeved on the straight cylinder, the small loop is fixedly connected with the straight cylinder, a large loop is fixedly connected with the outer surface of the small loop, the large loop is sleeved on the pipe barrel and fixedly connected with the pipe barrel, a threading pipe is installed on the side of the straight cylinder away from the cylinder cover, and a third sealing sleeve for wrapping the cable is installed in the threading pipe.

[0009] Specifically, the pushing member comprises a cylinder, two symmetrically arranged cylinders are arranged on the outer surface of the ballast cylinder along the length direction of the ballast cylinder, a first propeller for driving the ballast cylinder to move forward and backward is arranged at the end of the cylinder away from the hemispherical cover, and a second propeller for controlling the ballast cylinder to move up and down is arranged at the end of the cylinder close to the first propeller.

[0010] Specifically, a communication pipe is arranged between the two cylinders, a gas conveying pipe is arranged on the outer surface of the communication pipe, the end of the gas conveying pipe away from the communication pipe is connected with the end of the ballast cylinder away from the hemispherical cover, and an ear seat is arranged on the outer surface of the cylinder, and the end of the ear seat away from the cylinder is connected with the ballast cylinder.

[0011] Specifically, the ballast cylinder is provided with a U-shaped pipe on the side away from the hemispherical cover, the U-shaped pipe is connected with the gas conveying pipe through a connecting pipe, straight pipes are arranged at both ends of the U-shaped pipe, the straight pipes are arranged along the length direction of the ballast cylinder, a plurality of positioning sleeves connected with the straight pipes and the ballast cylinder are arranged on the straight pipes, a limiting ring is arranged at the end of the straight pipe away from the U-shaped pipe, a connecting rod is arranged in the limiting ring and extends into the straight pipe and is provided with a rubber column, the rubber column is slidably arranged in the straight pipe, a second compression spring in a compressed state is arranged between the rubber column and the limiting ring, the second compression spring is arranged on the connecting rod, a connecting ring is arranged on the end of the ballast cylinder close to the hemispherical cover, the end of the connecting rod on the outer side of the straight pipe is connected with the connecting ring, a butt ring is arranged on one side of the connecting ring, the butt ring is arranged on the hemispherical cover and is connected with the hemispherical cover, and the butt ring is connected with the connecting ring through a plurality of fasteners formed by screws and nuts.

[0012] Specifically, a ring is attached to the side of the rubber column facing the second compression spring, the ring is arranged on the connecting rod and is connected with the connecting rod, and the end of the second compression spring is in contact with the ring.

[0013] Specifically, an ear plate is connected with the connecting ring at the end of the connecting rod close to the connecting ring, the ear plate is connected with the connecting ring, a fixed ring is arranged on the side of the connecting ring away from the butt ring, the fixed ring is arranged on the ballast cylinder and is connected with the ballast cylinder.

[0014] Specifically, a carrier is arranged on the upper side of the ballast cylinder, two rows of small holes for inserting bolts are uniformly arranged on the upper surface of the carrier, two supports are arranged on the lower surface of the carrier, and the lower ends of the supports are arranged on the ballast cylinder through bolts.

[0015] The beneficial effects of the application are as follows: The oxygen gas generated by the reaction of the powdered super-oxidized potassium filled in the pipe cylinder and water enters the ballast cylinder through the communication pipe and the gas delivery pipe, and pushes the piston to slide towards the hemisphere cover, rapidly discharging the water in the ballast cylinder and reducing the overall weight of the ballast. Compared with the traditional mechanical unlocking and unloading method, the gas generation driving mechanism is more responsive, and the super-oxidized potassium and water can react instantly to generate gas without complex mechanical transmission. In the event of a failure of the thruster or depletion of energy, the mechanism can provide an upward net buoyancy for the carrying platform instantly, solving the problem of wasting resources caused by the sinking of the ballast into the seabed after the traditional ballast is released, and greatly reducing the cost of consumables in long-term operation and maintenance.

[0016] The two symmetrically arranged pipe cylinders are connected by a communication pipe, which can synchronize gas production and supply gas to the ballast cylinder through the gas delivery pipe, ensuring stable and sufficient gas supply and avoiding insufficient buoyancy caused by failure of a single pipe cylinder. At the same time, the gas delivery pipe is connected to the end of the ballast cylinder away from the hemisphere cover, so that when the piston is pushed to slide towards the hemisphere cover by the gas, the water in the ballast cylinder can be maximally discharged, ensuring that the weight reduction of the ballast meets the standard and providing sufficient upward net buoyancy for the robot to ensure a stable and reliable floating process.

[0017] The water flow is controlled by the repulsion between the electromagnet and the permanent magnet ring. In the initial state, the water inlet hole is sealed, and the super-oxidized potassium is isolated from water. In an emergency, the water inlet can be triggered by energizing, and after the reaction is completed, the electromagnet is de-energized, the first compression spring pushes the hollow pipe to reset, and the water inlet hole is resealed. This reversible control method of energizing triggering and de-energizing resetting can adjust the timing and duration of gas production according to emergency needs, avoiding the influence of excessive or insufficient gas on the buoyancy adjustment effect.

[0018] When the underwater robot triggers the emergency mechanism, the gas generated by the reaction of super-oxidized potassium and water in the pipe cylinder, in addition to pushing the piston in the ballast cylinder to discharge water through the gas delivery pipe, part of the air also enters the U-shaped pipe through the connecting pipe, and then flows into the straight pipes on both sides. The gas pressure in the straight pipes acts on the rubber column, overcoming the resilience of the second compression spring, forcing the spring to further compress, and the rubber column moves downward and pulls the connecting rod to pull the connecting ring, causing a gap between the connecting ring and the docking ring. Finally, an annular drainage channel is formed at the connection between the hemisphere cover and the ballast cylinder. This channel forms a double-drainage path with the water inlet and outlet pipe at the end of the ballast cylinder. Compared with the traditional single-drainage method relying only on the water inlet and outlet pipe, the drainage space is greatly widened, especially when a large amount of water needs to be discharged in a short time in an emergency, the annular channel can quickly divide the water in the ballast cylinder, significantly improving the drainage efficiency and helping the robot to obtain positive buoyancy faster and shorten the response time of floating. BRIEF DESCRIPTION OF DRAWINGS

[0019] Other features, objects, and advantages of the present application will become more apparent from the following detailed description of non-limiting embodiments, made with reference to the accompanying drawings: Figure 1Structure diagram of the emergency ballast release device for underwater robot of the present application; Figure 2 Another perspective view of the emergency ballast release device for underwater robot of the present application; Figure 3 For Figure 2 Enlarged view at A; Figure 4 Right view of the emergency ballast release device for underwater robot of the present application; Figure 5 For Figure 4 B-B sectional view; Figure 6 For Figure 4 C-C sectional view; Figure 7 For Figure 6 Enlarged view at D; Figure 8 Top view of the emergency ballast release device for underwater robot of the present application; Figure 9 For Figure 8 E-E sectional view; Figure 10 For Figure 8 F-F sectional view; Figure 11 Exploded structure diagram of the emergency ballast release device for underwater robot of the present application; Figure 12 For Figure 11 Enlarged view at G; In the figure: 100, ballast cylinder; 101, carrier seat; 1011, connecting seat; 102, water inlet and outlet pipe; 1021, threaded cover; 10211, small through hole; 103, half-sphere cover; 1031, butt joint ring; 10311, screw; 10312, nut; 104, fixing ring; 105, piston; 200, pipe cylinder; 201, ear seat; 202, communication pipe; 2021, gas conveying pipe; 203, potassium superoxide; 300, U-shaped pipe; 301, straight pipe; 3011, positioning sleeve; 3012, limiting ring; 302, connecting rod; 303, connecting ring; 3031, ear plate; 304, connecting pipe; 305, rubber column; 306, ring; 307, second compression spring; 400, column cylinder; 401, second propeller; 402, first propeller; 500, straight cylinder; 501, small ring sleeve; 502, large ring sleeve; 503, cylinder cover; 5031, pipe sleeve; 50311, first sealing sleeve; 504, hollow pipe; 5041, blocking ring; 5042, water inlet hole; 505, elbow pipe; 5051, second sealing sleeve; 506, first compression spring; 507, rubber ring; 508, permanent magnet ring; 509, threading pipe; 510, electromagnet. Detailed Implementation

[0020] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0021] Please see Figures 1-12 The present invention provides a technical solution: an emergency ballast release device for an underwater robot, comprising a ballast cylinder 100, one end of which is connected to a hemispherical cover 103. A piston 105 is slidably installed inside the ballast cylinder 100 on the side away from the hemispherical cover 103. An inlet / outlet water pipe 102 is installed at the end of the ballast cylinder 100 near the hemispherical cover 103. A threaded cap 1021 is threadedly connected to the inlet / outlet water pipe 102. By evenly opening multiple small through holes 10211 on one side of the threaded cap 1021, it plays the role of filtering debris, preventing aquatic plants and other debris from entering the ballast cylinder 100, and avoiding clogging of the internal channels and affecting drainage efficiency.

[0022] Two symmetrically arranged cylindrical sections 400 are mounted on the outer surface of the ballast cylinder 100. The cylindrical sections 400 are arranged along the length of the ballast cylinder 100. A first propeller thruster 402 for driving the ballast cylinder 100 to move back and forth is installed at the end of the cylindrical section 400 away from the hemispherical cover 103, and a second propeller thruster 401 for controlling the ballast cylinder 100 to move up and down is installed at the end of the cylindrical section 400 near the first propeller thruster 402. The first propeller thruster 402 and the second propeller thruster 401 on the outer surface of the ballast cylinder 100 can drive the ballast cylinder 100 to move back and forth and rise and fall underwater. This allows for adjustment of the ballast device's position according to the emergency needs of the underwater robot, ensuring that it can accurately cooperate with the robot to complete buoyancy adjustment and ascent.

[0023] Two symmetrically arranged tubes 200 are installed on the outer surface of the ballast cylinder 100. The tubes 200 are filled with powdered potassium superoxide 203. The two tubes 200 are connected to the space inside the ballast cylinder 100 near the piston 105. The powdered potassium superoxide 203 in the tubes 200 reacts with water to generate oxygen. The oxygen enters the ballast cylinder 100 near the piston 105 through the connecting pipe 202 and the gas supply pipe 2021, pushing the piston 105 to slide towards the hemispherical cover 103, quickly discharging the water in the ballast cylinder 100 and reducing the overall weight of the ballast. Compared to the traditional method of relying on mechanical unlocking and ballast release, this gas-generating drive mechanism responds more quickly. Potassium superoxide 203 and water can react instantly to generate gas without the need for complex mechanical transmission. It can instantly provide upward net buoyancy to the carrier platform when the robot encounters critical scenarios such as thruster failure or energy depletion. This solves the problem of resource waste caused by components sinking to the seabed and being unrecoverable after traditional ballast release, and significantly reduces the consumable costs in long-term operation and maintenance.

[0024] Two pipe barrels 200 are provided with straight barrels 500, one end of the straight barrel 500 is provided with a barrel cover 503 through a plurality of bolts, the side of the straight barrel 500 away from the barrel cover 503 is provided with an electromagnet 510, the side of the electromagnet 510 close to the barrel cover 503 is provided with a permanent magnet ring 508 repelling the electromagnet 510 in the power-on state, the permanent magnet ring 508 is slidingly installed in the straight barrel 500, the hollow pipe 504 is installed in the permanent magnet ring 508, the end of the hollow pipe 504 close to the electromagnet 510 is closed, the end of the hollow pipe 504 away from the permanent magnet ring 508 penetrates the barrel cover 503, two pipe barrels 200 are provided with elbow pipes 505, the end of the hollow pipe 504 outside the pipe barrel 200 is inserted into the elbow pipe 505, the side of the barrel cover 503 away from the straight barrel 500 is provided with a pipe sleeve 5031, the first sealing sleeve 50311 is pasted in the pipe sleeve 5031, the first sealing sleeve 50311 is sleeved on the hollow pipe 504, the outer surface of the hollow pipe 504 is provided with a water inlet hole 5042 in the initial state, the second sealing sleeve 5051 is installed in the elbow pipe 505, and the second sealing sleeve 5051 is wrapped on the hollow pipe 504. The repulsion effect of the electromagnet 510 and the permanent magnet ring 508 controls the water flow on and off, the water inlet hole 5042 is sealed by the first sealing sleeve 50311 in the initial state, and the potassium superoxide 203 is isolated from water; in an emergency, only the electromagnet 510 needs to be powered on, the magnetic field generated by the electromagnet 510 repels the permanent magnet ring 508, drives the hollow pipe 504 to move, and makes the water inlet hole 5042 separate from the first sealing sleeve 50311, water enters the pipe barrel 200 through the water inlet hole 5042 and reacts with the potassium superoxide 203; after the reaction is completed, the electromagnet 510 is powered off, the first compression spring 506 pushes the hollow pipe 504 to reset, and the water inlet hole 5042 is resealed. This reversible control mode of power-on triggering and power-off resetting can adjust the gas production time and length according to the emergency demand, so as to avoid the influence of excessive or insufficient gas on the buoyancy adjustment effect.

[0025] The rubber ring 507 is attached to the back of the permanent magnet ring 508 away from the electromagnet 510 by glue, and is sleeved on the hollow tube 504 and adhered to the hollow tube 504. The rubber ring 507 is slidingly installed in the straight cylinder 500, and a blocking ring 5041 is arranged on the side of the rubber ring 507 away from the permanent magnet ring 508. The blocking ring 5041 is sleeved on the hollow tube 504 and fixedly connected with the hollow tube 504. A first compression spring 506 is arranged between the blocking ring 5041 and the cylinder cover 503, and the first compression spring 506 is sleeved on the hollow tube 504. The design of the blocking ring 5041 prevents the first compression spring 506 from directly contacting the rubber ring 507, thereby protecting the rubber ring 507. Under the blocking of the rubber ring 507, water can be prevented from entering the electromagnet 510, thereby avoiding short circuit of the electromagnet 510 due to moisture and improving the safety of electricity use. The small ring sleeve 501 is sleeved on the straight cylinder 500 and fixedly connected with the straight cylinder 500. The large ring sleeve 502 is fixedly connected to the outer surface of the small ring sleeve 501. The large ring sleeve 502 is sleeved on the pipe cylinder 200 and fixedly connected with the pipe cylinder 200. The structure formed by the large ring sleeve 502 and the small ring sleeve 501 realizes stable connection between the pipe cylinder 200 and the straight cylinder 500, thereby avoiding loosening of the straight cylinder 500 under the impact of water flow underwater. The threading pipe 509 is installed on the side of the straight cylinder 500 away from the cylinder cover 503. The third sealing sleeve for wrapping the cable is installed in the threading pipe 509. The threading pipe 509 provides a threading channel for the cable on the electromagnet 510. The third sealing sleeve can prevent water from entering the threading pipe 509, thereby further ensuring the safety of electricity use of the cable and the electromagnet 510.

[0026] The communication pipe 202 is installed between the two pipe cylinders 200. The gas conveying pipe 2021 is installed on the outer surface of the communication pipe 202. One end of the gas conveying pipe 2021 away from the communication pipe 202 is connected and communicated with one end of the ballast cylinder 100 away from the hemispherical cover 103. The lug seat 201 is installed on the outer surface of the pipe cylinder 200. One end of the lug seat 201 away from the pipe cylinder 200 is fixedly connected with the ballast cylinder 100. The two symmetrical pipe cylinders 200 are connected through the communication pipe 202, can produce gas synchronously, and supply gas to the ballast cylinder 100 through the gas conveying pipe 2021, thereby ensuring stable and sufficient gas supply and avoiding insufficient buoyancy due to failure of a single pipe cylinder 200. Meanwhile, the gas conveying pipe 2021 is connected with one end of the ballast cylinder 100 away from the hemispherical cover 103. When the gas pushes the piston 105 to slide towards the hemispherical cover 103, the water in the ballast cylinder 100 can be maximally discharged, thereby ensuring that the reduction amplitude of the ballast weight meets the standard, providing sufficient upward net buoyancy for the robot, and ensuring that the floating process is stable and reliable. The lug seat 201 further strengthens the connection strength between the pipe cylinder 200 and the ballast cylinder 100, thereby avoiding falling of the pipe cylinder 200 due to gas production pressure or water flow impact.

[0027] The U-shaped pipe 300 is arranged on the side of the ball cap 103 away from the ball cap 103, and the U-shaped pipe 300 is connected and communicated with the gas conveying pipe 2021 through the connecting pipe 304. The two ends of the U-shaped pipe 300 are provided with straight pipes 301. The straight pipes 301 are arranged along the length direction of the ballast cylinder 100. A plurality of positioning sleeves 3011 connected with the straight pipes 301 and the ballast cylinder 100 are arranged on the straight pipes 301. A limiting ring 3012 is arranged at the end of the straight pipe 301 away from the U-shaped pipe 300. A connecting rod 302 is arranged in the limiting ring 3012. One end of the connecting rod 302 extends into the straight pipe 301 and is provided with a rubber column 305. The rubber column 305 is arranged in the straight pipe 301 in a sliding mode. A second compression spring 307 in a compressed state is arranged between the rubber column 305 and the limiting ring 3012. The second compression spring 307 is arranged on the connecting rod 302. A ring 306 is arranged on the side of the rubber column 305 facing the second compression spring 307. The ring 306 is arranged on the connecting rod 302 and is connected and fixed with the connecting rod 302. One end of the second compression spring 307 is in contact with the ring 306. The ring 306 protects the rubber column 305 and avoids the deformation of the rubber column 305 caused by the direct extrusion of the second compression spring 307. The end of the connecting rod 302 outside the straight pipe 301 is connected and fixed with a connecting ring 303. The connecting ring 303 is provided with a butt joint ring 1031. The butt joint ring 1031 is arranged on the ball cap 103 and is connected and fixed with the ball cap 103. The butt joint ring 1031 is connected with the connecting ring 303 through a plurality of fasteners formed by screws 10311 and nuts 10312.

[0028] When the underwater robot triggers the emergency mechanism, the gas generated by the reaction of the potassium superoxide 203 in the pipe cylinder 200 and water is pushed by the gas conveying pipe 2021 to drive the piston 105 in the ballast cylinder 100 to discharge water. Part of the air enters the U-shaped pipe 300 through the connecting pipe 304 and is then distributed to the two straight pipes 301. The gas pressure in the straight pipes 301 acts on the rubber column 305, overcomes the resilience of the second compression spring 307, forces the spring to be further compressed, and drives the rubber column 305 to move downward and the connecting rod 302 to pull the connecting ring 303, so that a gap is formed between the connecting ring 303 and the butt joint ring 1031. Finally, an annular water discharge channel is formed at the connection between the ball cap 103 and the ballast cylinder 100. The channel and the water inlet and outlet pipe 102 at the end of the ballast cylinder 100 form a double water discharge path. Compared with the traditional single water discharge mode relying on the water inlet and outlet pipe 102, the water discharge space is greatly widened. Especially when a large amount of water needs to be discharged in a short time in an emergency, the annular channel can quickly distribute the water in the ballast cylinder 100, significantly improves the water discharge efficiency, helps the robot to obtain positive buoyancy faster, and shortens the response time of floating.

[0029] Through the mechanical linkage of components such as the second compression spring 307, rubber column 305, and connecting rod 302, the sealing and drainage functions are integrated into the same structure, achieving automatic opening and closing of the drainage channel without the need for additional control components such as electric valves or solenoid valves. On the one hand, this simplifies the overall structure of the device, reduces the use of electronic components or complex mechanical parts, and lowers the risk of underwater failure; on the other hand, the mechanical linkage has a faster response speed, does not rely on electric drive or signal transmission, and can operate normally in extreme emergency scenarios such as robot energy depletion or communication interruption, further ensuring the reliability of emergency ballast release and providing dual protection for the safe recovery of the underwater robot. In the initial state, the rebound force of the second compression spring 307 is sufficient to maintain the seal between the hemispherical cover 103 and the ballast cylinder 100, preventing water leakage during daily operations. During gas generation, the gap will only be triggered when the gas pressure in the straight pipe 301 reaches a preset threshold, ensuring that the drainage channel is only opened in emergency situations and does not affect the sealing of normal operations. At the same time, as the water in the ballast cylinder 100 is discharged and the gas pressure decreases, the second compression spring 307 can gradually return to its original position, causing the hemispherical cover 103 to re-fit against the ballast cylinder 100 and close the annular drainage channel. This feature of automatically opening in emergencies and automatically sealing after pressure reduction not only avoids water backflow caused by the continuous opening of the channel after emergency drainage, but also eliminates the need for manual intervention, improving the adaptability and operational reliability in complex underwater environments.

[0030] A lug plate 3031 is fixedly connected to one end of the connecting rod 302 near the connecting ring 303. The lug plate 3031 is fixedly connected to the connecting ring 303. A fixing ring 104 is provided on the side of the connecting ring 303 away from the docking ring 1031. The fixing ring 104 is sleeved on the ballast cylinder 100 and fixedly connected to the ballast cylinder 100. The design of the lug plate 3031 facilitates a larger gap between the straight pipe 301 and the ballast cylinder 100, which allows for the selection of a straight pipe 301 with a larger inner diameter, thereby improving gas flow and pressure transmission efficiency. The fixing ring 104 restricts the movement range of the connecting ring 303, preventing excessive pulling of the connecting ring 303 and damage to the components. The upper side of the ballast cylinder 100 is provided with a carrier 101. The upper surface of the carrier 101 has two rows of small holes evenly opened for inserting bolts. Two supports 1011 are installed on the lower surface of the carrier 101. The lower end of the supports 1011 is installed on the ballast cylinder 100 by bolts. The structure formed by the supports 1011 and the carrier 101 provides a support carrier for other underwater equipment and instruments (such as sensors and positioning modules), and enhances the functional expandability of the device.

[0031] Although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. An emergency ballast release device for an underwater robot, characterized in that, The system includes a ballast cylinder (100), one end of which is connected to a hemispherical cover (103). A piston (105) is slidably installed inside the ballast cylinder (100) on the side away from the hemispherical cover (103). An inlet / outlet water pipe (102) is installed at the end of the ballast cylinder (100) near the hemispherical cover (103). A threaded cap (1021) is threaded onto the inlet / outlet water pipe (102). A plurality of small through holes (102) are evenly opened on one side of the threaded cap (1021). 11) Two symmetrically arranged pushers are installed on the outer surface of the ballast cylinder (100), and two symmetrically arranged tubes (200) are installed on the outer surface of the ballast cylinder (100). The tubes (200) are filled with powdered potassium superoxide (203). The two tubes (200) are connected to the space on the side of the ballast cylinder (100) near the piston (105). Both tubes (200) are equipped with water control devices for allowing water to enter the tubes (200).

2. The ballast release device for an underwater robot in emergency situations according to claim 1, characterized in that: The water control component includes a straight cylinder (500), and a straight cylinder (500) is installed on each of the two pipe cylinders (200). A cylinder cover (503) is installed at one end of the straight cylinder (500) by multiple sets of bolts. An electromagnet (510) is installed inside the straight cylinder (500) on the side away from the cylinder cover (503). A permanent magnet ring (508) that repels the electromagnet (510) when it is energized is provided on the side of the electromagnet (510) near the cylinder cover (503). The permanent magnet ring (508) is slidably installed inside the straight cylinder (500). A hollow tube (504) is installed inside the permanent magnet ring (508). The end of the hollow tube (504) near the electromagnet (510) is closed, and the end of the hollow tube (504) away from the permanent magnet ring (508) is closed. Through the cylinder cover (503), bends (505) are installed on both of the two tubes (200). The hollow tube (504) is inserted into the bend (505) at one end outside the tube (200). A sleeve (5031) is installed on the side of the cylinder cover (503) away from the straight tube (500). A first sealing sleeve (50311) is pasted inside the sleeve (5031). The first sealing sleeve (50311) is fitted on the hollow tube (504). A water inlet hole (5042) is opened on the outer surface of the hollow tube (504) and is initially located inside the first sealing sleeve (50311). A second sealing sleeve (5051) is installed inside the bend (505) and wraps around the hollow tube (504).

3. The ballast release device for an underwater robot in emergency situations according to claim 2, characterized in that: A rubber ring (507) is glued to the side of the permanent magnet ring (508) facing away from the electromagnet (510). The rubber ring (507) is sleeved on the hollow tube (504) and adhered to the hollow tube (504). The rubber ring (507) is slidably installed inside the straight cylinder (500). A blocking ring (5041) is provided on the side of the rubber ring (507) facing away from the permanent magnet ring (508). The blocking ring (5041) is sleeved on the hollow tube (504) and connected and fixed to the hollow tube (504). A first compression spring (506) is provided between the blocking ring (5041) and the cylinder cover (503). The first compression spring (506) is sleeved on the hollow tube (504).

4. The ballast release device for an underwater robot in emergency situations according to claim 2, characterized in that: A small ring (501) is fitted on the straight cylinder (500), and the small ring (501) is connected and fixed to the straight cylinder (500). A large ring (502) is connected and fixed to the outer surface of the small ring (501). The large ring (502) is fitted on the tube (200) and connected and fixed to the tube (200). A conduit (509) is installed on the side of the straight cylinder (500) away from the tube cover (503). A third sealing sleeve for wrapping the cable is installed inside the conduit (509).

5. The ballast release device for an underwater robot in emergency situations according to claim 1, characterized in that: The propulsion component includes a cylindrical tube (400). Two symmetrically arranged cylindrical tubes (400) are installed on the outer surface of the ballast cylinder (100). The cylindrical tubes (400) are arranged along the length of the ballast cylinder (100). A first propeller thruster (402) for driving the ballast cylinder (100) to move back and forth is installed at the end of the cylindrical tube (400) away from the hemispherical cover (103). A second propeller thruster (401) for controlling the up and down movement of the ballast cylinder (100) is installed at the end of the cylindrical tube (400) close to the first propeller thruster (402).

6. The ballast release device for an underwater robot in emergency situations according to claim 1, characterized in that: A connecting pipe (202) is installed between the two tubes (200). A gas supply pipe (2021) is installed on the outer surface of the connecting pipe (202). The end of the gas supply pipe (2021) away from the connecting pipe (202) is connected to the end of the ballast cylinder (100) away from the hemispherical cover (103). An ear seat (201) is installed on the outer surface of the tube (200). The end of the ear seat (201) away from the tube (200) is connected and fixed to the ballast cylinder (100).

7. The ballast release device for an underwater robot in emergency situations according to claim 6, characterized in that: A U-shaped tube (300) is provided on the side of the ballast cylinder (100) away from the hemispherical cover (103). The U-shaped tube (300) is connected to the gas transmission pipe (2021) through a connecting pipe (304). Straight pipes (301) are installed at both ends of the U-shaped tube (300). The straight pipes (301) are arranged along the length of the ballast cylinder (100). Multiple positioning sleeves (3011) connected to the straight pipes (301) and the ballast cylinder (100) are fitted on the straight pipes (301). A limiting ring (3012) is installed at the end of the straight pipe (301) away from the U-shaped tube (300). A connecting rod (302) is inserted in the limiting ring (3012). One end of the connecting rod (302) extends into the straight pipe (301) and is fitted with a rubber column (305). The rubber column (305) is slidably installed inside the straight tube (301). A second compression spring (307) in a compressed state is provided between the rubber column (305) and the limiting ring (3012). The second compression spring (307) is sleeved on the connecting rod (302). A connecting ring (303) is sleeved on one end of the ballast cylinder (100) near the hemispherical cover (103). The connecting rod (302) is connected and fixed to the connecting ring (303) at one end outside the straight tube (301). A docking ring (1031) is provided on one side of the connecting ring (303). The docking ring (1031) is sleeved on the hemispherical cover (103) and connected and fixed to the hemispherical cover (103). The docking ring (1031) is connected to the connecting ring (303) by fasteners formed by multiple sets of screws (10311) and nuts (10312).

8. The ballast release device for an underwater robot in emergency situations according to claim 7, characterized in that: A ring (306) is attached to the side of the rubber column (305) facing the second compression spring (307). The ring (306) is sleeved on the connecting rod (302) and connected and fixed to the connecting rod (302). One end of the second compression spring (307) is in contact with the ring (306).

9. The ballast release device for an underwater robot in emergency situations according to claim 7, characterized in that: The connecting rod (302) is connected and fixed with an ear plate (3031) at one end near the connecting ring (303). The ear plate (3031) is connected and fixed to the connecting ring (303). A fixing ring (104) is provided on the side of the connecting ring (303) away from the docking ring (1031). The fixing ring (104) is sleeved on the ballast cylinder (100) and connected and fixed to the ballast cylinder (100).

10. The ballast release device for an underwater robot in emergency situations according to claim 1, characterized in that: The upper side of the ballast cylinder (100) is provided with a carrier (101). The upper surface of the carrier (101) is evenly provided with two rows of small holes for inserting bolts. The lower surface of the carrier (101) is equipped with two supports (1011). The lower end of the supports (1011) is installed on the ballast cylinder (100) by bolts.

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