Bidirectional flow control negative pressure adsorption device for underwater robot

Abstract

This application discloses a bidirectional flow-controlled negative pressure adsorption device for underwater robots, relating to the field of underwater robot adsorption and positioning. It includes a main pipe, a cabin, inlet and outlet pipes, and multiple adsorption units arranged around the main pipe. A bidirectional pump is installed between the cabin and the inlet and outlet pipes. Each adsorption unit includes an adsorption branch pipe, a valve assembly, and a suction cup connected in sequence. A partition in the valve assembly divides the valve assembly pipe into a pumping channel and a desorption channel. The pumping valve and desorption valve are unidirectionally open, and a reset mechanism drives the two valves to close the corresponding channels. When the bidirectional pump operates in the forward direction, the pumping valve opens to pump out fluid from the suction cup; when the pump stops, the two valves reset to prevent backflow; when operating in the reverse direction, the desorption valve opens to supply water to the suction cup and release the negative pressure. A telescopic mechanism is provided between the valve assembly and the suction cup. This device automatically switches between adsorption, holding, and desorption states using fluid pressure difference and improves the adaptability of the suction cup to uneven surfaces.

Description

Technical Field

[0001] This application relates to the field of underwater robot adsorption and positioning technology, and in particular to a bidirectional flow-controlled negative pressure adsorption device for underwater robots. Background Technology

[0002] Underwater robots are widely used in ship surface inspection, underwater facility maintenance, and underwater cleaning. Due to water flow disturbances and the robot's own movement, underwater robots usually need to use negative pressure adsorption devices to attach to the surface to be worked on in order to maintain positional stability during the operation.

[0003] Negative pressure adsorption devices typically utilize a water pump to remove fluid from the suction cups, creating a pressure difference between the inside and outside of the cups. When multiple suction cups are operating simultaneously, it is also necessary to control the fluid flow between each suction cup and the pumping system according to the operational status to complete adsorption, retention, and desorption operations. Some solutions require multiple active control components and corresponding pipelines, which not only increases the size and control complexity of the device but also increases the risk of underwater sealing and malfunction.

[0004] Furthermore, after the water pump stops working, the fluid in the pipeline may re-enter the suction cup, gradually reducing the pressure difference inside and outside the suction cup and affecting the underwater robot's continuous adsorption. When desorption is required, simply stopping the pumping process is insufficient to eliminate the negative pressure inside the suction cup in a timely manner. Therefore, how to achieve stable maintenance of the adsorption state and rapid switching between the desorption state while simplifying the fluid control structure is a problem that needs to be solved for the negative pressure adsorption device of the underwater robot. Summary of the Invention

[0005] To address the aforementioned technical issues, this application provides a bidirectional flow-controlled negative pressure adsorption device for underwater robots.

[0006] The underwater robot bidirectional flow-controlled negative pressure adsorption device provided in this application adopts the following technical solution: A bidirectional flow-controlled negative pressure adsorption device for underwater robots includes: Main pipeline; The cabin has an internal manifold that communicates with the main pipeline; The inlet and outlet pipes are connected to the end of the cabin that is furthest from the main pipe; A two-way pump is installed between the cabin and the inlet and outlet pipes, and the two working ports of the two-way pump are respectively connected to the manifold and the inlet and outlet pipes; The adsorption unit is arranged in multiple sets around the main pipeline. The adsorption unit includes an adsorption branch pipe, a valve group mechanism and a suction cup connected in sequence. The end of the adsorption branch pipe away from the valve group mechanism is connected to the main pipeline. The valve assembly includes a valve assembly pipe, a baffle plate, a pumping valve plate, a desorption valve plate, a reset mechanism, and a limiting structure. The baffle plate is located inside the valve assembly pipe and separates the pumping flow channel and the desorption flow channel. The pumping valve plate and the desorption valve plate are both hinged to the end of the baffle plate near the suction cup. The limiting structure causes the pumping valve plate to open only towards the adsorption branch pipe side and the desorption valve plate to open only towards the suction cup side. The reset mechanism is connected to the two valve plates and drives the two valve plates to close the corresponding flow channels.

[0007] Furthermore, the inner cross-section of the valve group pipeline is rectangular. When the pumping valve plate and the desorption valve plate are in the closed position, they are both perpendicular to the extension direction of the valve group pipeline and cover the corresponding flow channels respectively. The periphery of the pumping valve plate and the desorption valve plate are both fixed with sealing strips.

[0008] Furthermore, the limiting structure includes a pumping limiting plate and a desorption limiting plate. The pumping limiting plate is fixed to the inner wall of the valve group pipe and is located on the side of the pumping valve plate away from the partition and close to the suction cup. The desorption limiting plate is fixed to the inner wall of the valve group pipe and is located on the side of the desorption valve plate away from the partition and close to the adsorption branch pipe.

[0009] Furthermore, the hinge axis of the pumping valve plate is located at the corner of the pumping valve plate near the partition and near the adsorption branch pipe, and the hinge axis of the desorption valve plate is located at the corner of the desorption valve plate near the partition and near the suction cup. Both the pumping valve plate and the desorption valve plate have a fully open position extending in the same direction as the partition.

[0010] Furthermore, the reset mechanism includes a support assembly, a first transmission assembly, a second transmission assembly, a first elastic reset member, and a second elastic reset member. The support assembly is fixed to one end of the partition near the suction cup. The first transmission assembly and the second transmission assembly are rotatably connected to the support assembly and movably connected to the pumping valve plate and the desorption valve plate, respectively. The first elastic reset member and the second elastic reset member are respectively disposed between the support assembly and the corresponding transmission assembly, and respectively drive the pumping valve plate to abut against the pumping limit plate and drive the desorption valve plate to abut against the desorption limit plate.

[0011] Furthermore, the support assembly includes a reset bracket and a reset shaft. The reset bracket is fixed to the partition plate, and the reset shaft is fixed to the reset bracket and located on the side of the partition plate near the water pump valve plate. The first transmission assembly includes a first connecting frame, a first slider, and a first guide rail. The second transmission assembly includes a second connecting frame, a second slider, and a second guide rail. Both connecting frames are rotatably mounted on the reset shaft. The two guide rails are respectively located on the side of the corresponding valve plate near the suction cup. The two sliders are respectively hinged to the end of the corresponding connecting frame away from the reset shaft and slidably mounted on the corresponding guide rail.

[0012] Furthermore, a connecting plate is fixed in the middle of the reset shaft; the first elastic reset member is a first torsion spring disposed between the first connecting frame and the connecting plate, and the first torsion spring drives the first connecting frame to rotate toward the suction cup side; the second elastic reset member is a second torsion spring disposed between the second connecting frame and the reset bracket, and the second torsion spring drives the second connecting frame to rotate toward the adsorption branch tube side.

[0013] Furthermore, the valve assembly mechanism also includes a gate and a gate torsion spring. The gate is hinged to one end of the partition near the adsorption branch pipe. The gate has an open position extending in the same direction as the partition and a closed position extending into the water flow channel and abutting the inner wall of the valve assembly pipe. The gate torsion spring is disposed between the gate and the partition and drives the gate to be in the closed position.

[0014] Furthermore, the baffle includes a first baffle section, a connecting section, and a second baffle section connected in sequence. The first baffle section is close to the adsorption branch pipe, and the second baffle section is close to the suction cup. The first baffle section and the second baffle section are parallel and offset laterally along the valve group pipe. The connecting section is inclinedly connected between the two, so that the flow cross-sectional area of ​​the pumping channel near the suction cup is larger than the flow cross-sectional area near the adsorption branch pipe, and the flow cross-sectional area of ​​the desorption channel near the adsorption branch pipe is larger than the flow cross-sectional area near the suction cup.

[0015] Furthermore, a telescopic mechanism is provided between the valve assembly and the suction cup. The telescopic mechanism includes a guide sleeve, a telescopic connector, and a compression spring. The guide sleeve is connected and communicates with the valve assembly. The telescopic connector slides along the axial direction of the guide sleeve. One end of the telescopic connector near the valve assembly has an annular retaining edge located inside the guide sleeve, and the other end extends out of the guide sleeve. The compression spring is sleeved on the telescopic connector, with its two ends abutting against the guide sleeve and the annular retaining edge, respectively, to drive the telescopic connector to extend towards the suction cup. The guide sleeve near the suction cup has a limiting step that abuts against the annular retaining edge. The telescopic connector has a telescopic flow channel that communicates with the inner cavity of the guide sleeve. The top of the suction cup has a hinged ball head with a water passage. The hinged ball head is rotatably disposed at one end of the telescopic connector near the suction cup. The water passage connects the telescopic flow channel and the inner cavity of the suction cup.

[0016] In summary, this application includes at least one of the following beneficial technical effects: 1. This application solves the problem of needing to configure multiple active control components for switching between adsorption and desorption states by setting baffles, pumping valve plates and desorption valve plates in the valve group pipeline and using a limiting structure to limit the opening of the two valve plates in opposite directions. This allows the bidirectional pump to automatically switch between the pumping flow channel and the desorption flow channel when changing the fluid delivery direction, thus simplifying the fluid control structure and improving the reliability of state switching. 2. This application solves the problems of fluid backflow into the suction cup after pumping and the difficulty in quickly eliminating negative pressure by simply stopping the pump by setting a reset mechanism that is connected to the pumping valve plate and the desorption valve plate respectively. This achieves the effect of maintaining the adsorption state and realizing active and rapid desorption. 3. This application solves the problem of fluid diversion during reverse desorption by setting a gate that can close the pumping channel and setting the baffle to be composed of a staggered first baffle section, a second baffle section and an inclined connecting section, so that the pumping channel and the desorption channel gradually contract along their respective working flow directions, thereby achieving the effect of concentrating the desorption water flow and improving the desorption response speed. 4. This application solves the problem that multiple suction cups are difficult to simultaneously adhere to underwater surfaces with height differences or tilt angles by setting a telescopic mechanism consisting of a guide sleeve, a telescopic connector and a compression spring between the valve assembly and the suction cup, and by connecting the suction cup to the telescopic connector through a hinged ball head with a water passage. This achieves the effect of compensating for the axial position and adhesion angle of the suction cup and improving the adsorption stability. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the overall three-dimensional structure of the underwater robot bidirectional flow control negative pressure adsorption device in the embodiments of this application; Figure 2This is a schematic cross-sectional view of the underwater robot bidirectional flow control negative pressure adsorption device in the embodiments of this application; Figure 3 This is a cross-sectional view of the adsorption unit in an embodiment of this application; Figure 4 This is a bottom-view tilted structural diagram of the valve assembly mechanism after the valve assembly pipes have been removed in the embodiments of this application; Figure 5 This is an exploded view of the reset mechanism in the embodiments of this application; Figure 6 This is a schematic diagram of the connection between the gate and the partition in an embodiment of this application; Figure 7 This is a schematic diagram of the internal structure of the valve assembly mechanism in the water pumping and adsorption state in the embodiments of this application; Figure 8 This is a schematic diagram of the internal structure of the valve group mechanism in the pump stop holding state in the embodiment of this application; Figure 9 This is a schematic diagram of the internal structure of the valve assembly mechanism in the reverse desorption state in the embodiments of this application.

[0019] Reference numerals: 1. Main pipe; 11. Bidirectional pump; 2. Chamber; 3. Inlet / outlet pipe; 4. Adsorption unit; 41. Adsorption branch pipe; 42. Valve assembly mechanism; 421. Valve assembly pipe; 422. Baffle; 4221. First baffle section; 4222. Second baffle section; 4223. Connecting section; 423. Pumping valve plate; 424. Desorption valve plate; 425. Reset mechanism; 4251. Reset bracket; 4252. Reset rotating shaft; 4253. First connecting frame; 4254. First slider; 4255. First guide rail; 4256, Second connecting frame; 4257, Second slider; 4258, Second guide rail; 4259, First torsion spring; 42510, Second torsion spring; 42511, Connecting plate; 426, Limiting structure; 4261, Pumping limit plate; 4262, Desorption limit plate; 427, Gate plate; 4271, Gate plate sealing strip; 428, Gate plate torsion spring; 43, Suction cup; 44, Telescopic mechanism; 441, Guide sleeve; 442, Telescopic connector; 443, Compression spring; 45, Hinge ball head. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0021] This application discloses a bidirectional flow-controlled negative pressure adsorption device for an underwater robot. For ease of description, the side of the valve assembly 42 closest to the adsorption branch pipe 41 is referred to as the adsorption branch pipe side, and the side of the valve assembly 42 closest to the suction cup 43 is referred to as the suction cup side. The directions mentioned in the specification, such as up and down, are for reference only to the states shown in the accompanying drawings and do not constitute a limitation on the actual installation direction of the device.

[0022] like Figure 1 As shown, the underwater robot bidirectional flow-controlled negative pressure adsorption device includes a main pipe 1, a chamber 2, inlet and outlet pipes 3, and multiple adsorption units 4. The main pipe 1 is a hollow tubular structure with openings at both ends, and one end of the main pipe 1 is equipped with a flange for connection to the underwater robot or other carrier equipment. The chamber 2 is located at the end of the main pipe 1 furthest from the flange, and the chamber 2 is generally hollow cylindrical; the main pipe 1 and the chamber 2 are interconnected. The inlet and outlet pipes 3 are located at the end of the chamber 2 furthest from the main pipe 1 and are connected to the inner cavity of the chamber 2.

[0023] Multiple adsorption units 4 are arranged circumferentially around the axis of the main pipe 1 and extend from the cabin 2 away from the main pipe 1. Preferably, the multiple adsorption units 4 are distributed at equal angles circumferentially so that the adsorption force generated by each suction cup 43 can be transmitted to the cabin 2 relatively evenly. In specific applications, the adsorption units 4 can be set to four, six, eight or other numbers, and the specific number can be determined according to the weight of the underwater robot, the shape of the surface to be adsorbed, and the adsorption force that a single suction cup 43 can provide.

[0024] The main pipe 1, the hull 2, and the inlet / outlet pipe 3 can be made of stainless steel, aluminum alloy, or seawater-resistant engineering plastics. The main pipe 1 and the hull 2, as well as the hull 2 ​​and the inlet / outlet pipe 3, can be connected by flanges, threads, or integral molding. When a detachable connection is used, a sealing gasket is placed between the two connected end faces to reduce fluid leakage from the connection gap.

[0025] Furthermore, such as Figure 2 As shown, the bidirectional pump 11 is located between the chamber 2 and the inlet / outlet pipe 3. One working port of the bidirectional pump 11 communicates with the inner cavity of the chamber 2, and the other working port communicates with the inlet / outlet pipe 3, so that the bidirectional pump 11 is connected in series in the common passage for fluid exchange between the device and the external water body. The bidirectional pump 11 can be fixed between the chamber 2 and the inlet / outlet pipe 3 by means of a pump casing, mounting flange, or connecting bracket. Each connection position is equipped with a sealing structure to prevent external water body from entering the fluid passage through the connection gap.

[0026] The interior of compartment 2 is a water passage or manifold connected to the main pipeline 1, rather than a closed dry electrical compartment. Before the device is put into operation, the fluid passage containing the main pipeline 1, compartment 2, and bidirectional pump 11 is filled with water to reduce the impact of residual gas on the negative pressure build-up rate and reverse desorption response.

[0027] In one specific embodiment, the bidirectional pump 11 is a pipeline-type bidirectional axial flow pump, including a reversible underwater motor and an axial flow impeller connected to the output end of the underwater motor. When the underwater motor rotates forward and in reverse, the axial flow impeller generates water flows in opposite directions within the main pipeline 1. The bidirectional pump 11 can also be a reversible positive displacement pump or other pumps capable of changing the direction of water delivery. As a specific example, the motor and impeller assembly of a T200 type underwater propeller can be used as the axial flow drive assembly within the pipe, and its forward, stop, and reverse rotation can be controlled by a bidirectional electronic speed controller. The above specific model is only one embodiment of the bidirectional pump 11 and does not constitute a limitation on the model and structure of the bidirectional pump 11.

[0028] In this embodiment, the main pipe 1, the chamber 2, and the inlet / outlet pipe 3 together form the main fluid passage that cooperates with the bidirectional pump 11. The inlet / outlet pipe 3 serves as a channel for discharging fluid during the pumping and adsorption operation, and can also serve as a channel for external water to enter the device during the reverse desorption operation. The name "inlet / outlet pipe 3" indicates its primary function and does not imply that fluid can only pass through it in a single direction.

[0029] Specifically, each adsorption unit 4 includes an adsorption branch pipe 41, a valve assembly 42, and a suction cup 43. The adsorption branch pipe 41 is a hollow pipe, with one end bent and connected to the side wall of the main pipe 1, and the other end extending towards the suction cup 43 and connected to the valve assembly 42. A sealing structure is provided at the connection between the adsorption branch pipe 41 and the main pipe 1, so that each adsorption branch pipe 41 can form an independent branch flow path with the main pipe 1. The adsorption branch pipe 41 can be a circular metal pipe, a pressure-resistant flexible hose, or a composite pipe formed by combining rigid and flexible pipe sections.

[0030] like Figure 3 As shown, the valve assembly 42 is located between the adsorption branch pipe 41 and the suction cup 43. The valve assembly 42 includes a valve assembly pipe 421, a baffle plate 422, a pumping valve plate 423, a desorption valve plate 424, a reset mechanism 425, and a limiting structure 426. The valve assembly pipe 421 is a hollow tubular component open at both ends. One end of the valve assembly pipe 421 near the adsorption branch pipe 41 is connected to the adsorption branch pipe 41, and the other end faces the suction cup 43. Flange interfaces are provided at both ends of the valve assembly pipe 421, and the valve assembly pipe 421 is detachably connected to the adsorption branch pipe 41 and the structure located on one side of the suction cup 43 by fasteners. Sealing gaskets are provided between adjacent flange interfaces to ensure the sealing of the internal flow channels of the valve assembly 42.

[0031] The inner cross-section of the valve assembly pipe 421 is rectangular, and a baffle 422 is disposed inside the valve assembly pipe 421 along its extension direction. The opposite sides of the baffle 422 are sealed to the inner wall of the valve assembly pipe 421, thereby dividing the inner cavity of the valve assembly pipe 421 into a pumping channel and a desorption channel. Both the pumping channel and the desorption channel extend along the direction from the adsorption branch pipe 41 to the suction cup 43, and are connected to the adsorption branch pipe 41 and the suction cup 43, respectively.

[0032] A telescopic mechanism 44 is also provided between the valve assembly mechanism 42 and the suction cup 43. The telescopic mechanism 44 includes a guide sleeve 441, a telescopic connector 442, and a compression spring 443. The guide sleeve 441 is a hollow cylindrical component, and a connecting flange is provided at one end near the valve assembly mechanism 42, which is then sealed to the valve assembly pipe 421. The inner cavity of the guide sleeve 441 communicates with the inner cavity of the valve assembly pipe 421, and the end of the guide sleeve 441 near the suction cup 43 protrudes inward to form a limiting step.

[0033] The telescopic connector 442 is a hollow component. One end of the telescopic connector 442, near the valve assembly 42, has a cylindrical sliding section that slides against the inner wall of the guide sleeve 441. The other end of the telescopic connector 442 extends beyond the guide sleeve 441 and toward the suction cup 43. An annular retaining flange is provided on the outer periphery of the sliding section of the telescopic connector 442. This flange is located inside the guide sleeve 441 and abuts against the limiting step of the guide sleeve 441, thereby preventing the telescopic connector 442 from disengaging from the guide sleeve 441. The protruding portion of the telescopic connector 442 may include a tapered transition section and a hollow neck connected to the tapered transition section, thereby reducing the external dimensions near the suction cup 43 while ensuring fluid passage.

[0034] The compression spring 443 is a helical spring and is sleeved on the outer periphery of the telescopic connector 442. One end of the compression spring 443 abuts against the support surface inside the guide sleeve 441, and the other end abuts against the annular retaining edge of the telescopic connector 442. The compression spring 443 applies a spring force towards the suction cup 43 to the annular retaining edge, so that the telescopic connector 442 remains extended outward from the guide sleeve 441 when no external force is applied. When the suction cup 43 contacts the surface to be adsorbed, the telescopic connector 442 can retract relative to the guide sleeve 441 towards the valve assembly mechanism 42 and compress the compression spring 443, thereby compensating for the difference in axial distance between different suction cups 43 and the surface to be adsorbed.

[0035] The telescopic connector 442 has telescopic channels extending through both ends, which communicate with the inner cavity of the guide sleeve 441. A spherical receiving portion is formed at the end of the telescopic connector 442 near the suction cup 43. A hinged ball head 45 is provided at the top of the suction cup 43. The hinged ball head 45 has a spherical outer surface that mates with the spherical receiving portion and is rotatably disposed within the spherical receiving portion, allowing the suction cup 43 to swing at a certain angle relative to the telescopic connector 442.

[0036] The hinged ball head 45 has a water passage extending through it. One end of the water passage connects to the telescopic flow channel, and the other end connects to the inner cavity of the suction cup 43. Preferably, an annular sealing ring or a flexible sealing sleeve is provided between the hinged ball head 45 and the spherical receiving portion. This sealing structure allows the hinged ball head 45 to rotate while sealing the spherical mating gap.

[0037] The suction cup 43 is shaped like a bell or trumpet with a gradually widening opening, and the end of the suction cup 43 away from the hinge ball head 45 forms a flexible adsorption skirt. The suction cup 43 can be made of silicone rubber, nitrile rubber, or other elastic materials resistant to seawater corrosion. When the suction cup 43 contacts an inclined or locally uneven surface to be adsorbed, the hinge ball head 45 can compensate for the angular deviation of the suction cup 43, and the telescopic mechanism 44 can compensate for the axial position deviation of the suction cup 43. Thus, multiple sets of suction cups 43 can be adjusted to fit the surface individually, increasing the possibility of multiple sets of suction cups 43 simultaneously adsorbing the surface to be adsorbed.

[0038] Furthermore, such as Figure 4 As shown, the baffle 422 is a plate-shaped component extending axially along the valve assembly pipe 421. The baffle 422 includes a first baffle section 4221, a connecting section 4223, and a second baffle section 4222 connected in sequence. The first baffle section 4221 is located on the side closer to the adsorption branch pipe 41, and the second baffle section 4222 is located on the side closer to the suction cup 43. The first baffle section 4221 and the second baffle section 4222 are parallel to each other and are offset laterally along the valve assembly pipe 421. The connecting section 4223 is inclined relative to the first baffle section 4221 and the second baffle section 4222, and connects the first baffle section 4221 and the second baffle section 4222, so that the baffle 422 as a whole forms a bent structure.

[0039] Through the lateral misalignment of the first baffle section 4221 and the second baffle section 4222, the flow cross-sectional area of ​​the pumping channel near the suction cup 43 is larger than that of the end near the adsorption branch pipe 41, and the flow cross-sectional area of ​​the desorption channel near the adsorption branch pipe 41 is larger than that of the end near the suction cup 43. Therefore, both the pumping channel and the desorption channel gradually contract along their respective working flow directions, allowing for greater concentration of fluid at the outlet side under the same flow rate. It can be understood that in embodiments where the requirement for flow velocity concentration is lower, the baffle 422 can also be a flat plate extending linearly along the axial direction of the valve assembly pipe 421.

[0040] Both the pumping valve plate 423 and the desorption valve plate 424 are plate-shaped components adapted to the cross-section of the corresponding flow channel. In this embodiment, both the pumping valve plate 423 and the desorption valve plate 424 are rectangular plates. The two valve plates are respectively hinged to one end of the partition plate 422 near the suction cup 43 and can rotate independently relative to the partition plate 422. The pumping valve plate 423 is used to open or close the pumping flow channel, and the desorption valve plate 424 is used to open or close the desorption flow channel.

[0041] When the pumping valve plate 423 and the desorption valve plate 424 are in the closed position, both valve plates are perpendicular to the extension direction of the valve assembly pipe 421 and respectively cover the pumping channel and the desorption channel. A sealing strip is fixed to the periphery of both the pumping valve plate 423 and the desorption valve plate 424. This sealing strip can be embedded in a sealing groove opened on the periphery of the valve plate, or it can be fixed to the valve plate by bonding, pressing, or overmolding. When the valve plate is in the closed position, the sealing strip makes elastic contact with the inner wall of the valve assembly pipe 421, the partition plate 422, and the corresponding support parts to reduce fluid leakage around the valve plate.

[0042] The limiting structure 426 includes a pumping limiting plate 4261 and a desorption limiting plate 4262. Both the pumping limiting plate 4261 and the desorption limiting plate 4262 are strip-shaped or plate-shaped stop members fixed to the inner wall of the valve assembly pipe 421. The pumping limiting plate 4261 is located on the side of the pumping valve plate 423 away from the partition 422 and close to the suction cup 43. When the pumping valve plate 423 is in the closed position, its end away from the partition 422 abuts against the pumping limiting plate 4261. Therefore, the pumping limiting plate 4261 prevents the pumping valve plate 423 from rotating toward the suction cup 43 side, while allowing the pumping valve plate 423 to open toward the adsorption branch pipe 41 side.

[0043] The desorption limiting plate 4262 is located on the side of the desorption valve plate 424 away from the partition plate 422, near the adsorption branch pipe 41. When the desorption valve plate 424 is in the closed position, its end away from the partition plate 422 abuts against the desorption limiting plate 4262. Therefore, the desorption limiting plate 4262 prevents the desorption valve plate 424 from rotating towards the adsorption branch pipe 41, while allowing the desorption valve plate 424 to open towards the suction cup 43. The pumping limiting plate 4261 and the desorption limiting plate 4262 can be fixed to the inner wall of the valve assembly pipe 421 by welding, threading, or integral molding. In alternative embodiments, the limiting structure 426 can also be a limiting protrusion, a limiting pin, or a limiting step formed on the inner wall of the valve assembly pipe 421.

[0044] To allow both valve plates to rotate to a fully open position substantially parallel to the partition 422, the hinge axis of the pump valve plate 423 is located at the corner of the pump valve plate 423 near the partition 422 and close to the adsorption branch pipe 41, and the hinge axis of the desorption valve plate 424 is located at the corner of the desorption valve plate 424 near the partition 422 and close to the suction cup 43. The two hinge axes are located on different sides in the thickness direction of the corresponding valve plates, ensuring that the two valve plates can avoid the end of the partition 422 when rotating in their respective permissible directions. Thus, both the pump valve plate 423 and the desorption valve plate 424 can rotate to a fully open position extending in the same direction as the partition 422, reducing the obstruction of the corresponding flow channel by the valve plates when open.

[0045] In addition, such as Figure 5 As shown, the reset mechanism 425 includes a support assembly, a first transmission assembly, a second transmission assembly, a first elastic reset member, and a second elastic reset member. The reset bracket 4251 and the reset shaft 4252 together constitute the support assembly. The reset bracket 4251 is fixed to one end of the partition 422 near the suction cup 43, and the reset shaft 4252 is a cylindrical shaft fixed to the reset bracket 4251. The reset shaft 4252 is located on the side of the partition 422 near the water pump valve plate 423, providing clearance for the water pump valve plate 423 to rotate to the fully open position.

[0046] The first transmission assembly includes a first connecting frame 4253, a first slider 4254, and a first guide rail 4255. The first connecting frame 4253 is a long, narrow connecting arm, one end of which has a shaft hole and is rotatably fitted onto the reset shaft 4252, while the other end is hinged to the first slider 4254. The first guide rail 4255 is a long, narrow guide structure extending along the surface of the pump valve plate 423 and fixed to the side of the pump valve plate 423 near the suction cup 43. The first slider 4254 is embedded within the first guide rail 4255 and can slide along the length of the first guide rail 4255.

[0047] The second transmission assembly includes a second connecting frame 4256, a second slider 4257, and a second guide rail 4258. One end of the second connecting frame 4256 is rotatably mounted on the reset shaft 4252, and the other end is hinged to the second slider 4257. The second guide rail 4258 is located on the side of the desorption valve plate 424 near the suction cup 43, and the second slider 4257 is slidably mounted within the second guide rail 4258. The first slider 4254 and the second slider 4257 can be rectangular sliders, roller sliders, or sliders with arc-shaped mating surfaces. The first guide rail 4255 and the second guide rail 4258 can be grooves, guide frames, or two oppositely arranged guide flanges.

[0048] When the pumping valve plate 423 or the desorption valve plate 424 rotates, the corresponding connecting frame rotates around the reset shaft 4252, and the corresponding slider slides along the corresponding guide rail at the same time. This sliding fit can compensate for the change in distance between the end of the connecting frame and the valve plate, so that the reset mechanism 425 can transmit the elastic reset force while avoiding rigid interference with the valve plate.

[0049] A connecting plate 42511 is fixed to the middle of the reset shaft 4252. The connecting plate 42511 can be an annular plate or a radially protruding plate-like member that is sleeved and fixed to the outer periphery of the reset shaft 4252, and serves as a fixed support for the first torsion spring 4259. The connecting plate 42511 can be fixed to the reset shaft 4252 by welding, keying, interference fit, or fasteners.

[0050] The first elastic reset component is a first torsion spring 4259. The first torsion spring 4259 is sleeved around the reset shaft 4252, with one end abutting against the first connecting frame 4253 and the other end abutting against the connecting plate 42511. The first torsion spring 4259 drives the first connecting frame 4253 to rotate towards the suction cup 43. The first connecting frame 4253 applies a closing force to the water pumping valve plate 423 via the first slider 4254 and the first guide rail 4255, causing the water pumping valve plate 423 to abut against the water pumping limit plate 4261.

[0051] The second elastic reset component is a second torsion spring 42510. The second torsion spring 42510 is sleeved outside the reset shaft 4252, with one working end abutting against the second connecting frame 4256 and the other working end abutting against the reset bracket 4251. The second torsion spring 42510 drives the second connecting frame 4256 to rotate towards the adsorption branch pipe 41. The second connecting frame 4256 applies a closing force to the desorption valve plate 424 via the second slider 4257 and the second guide rail 4258, causing the desorption valve plate 424 to abut against the desorption limiting plate 4262.

[0052] The first torsion spring 4259 and the second torsion spring 42510 can be made of stainless steel spring wire or spring steel with a corrosion-resistant coating. The opening pressure difference between the two valve plates can be set by adjusting the torsion spring wire diameter, effective number of coils, preload angle, and lever arm length of the connecting frame. The reset torque of the first torsion spring 4259 is less than the opening torque generated by the fluid on the pumping valve plate 423 under pumping conditions, allowing the pumping valve plate 423 to open during pumping and reset after the fluid stops.

[0053] For the second torsion spring 42510, the opening torque generated by the maximum static pressure difference on both sides of the desorption valve plate 424 under the pump stop holding condition is set as the first torque, and the opening torque generated by the minimum desorption pressure difference when the bidirectional pump 11 is working in reverse is set as the second torque. The closing torque applied by the second torsion spring 42510 to the desorption valve plate 424 is set to be greater than the first torque and less than the second torque. Therefore, the desorption valve plate 424 will not open automatically due to the static pressure difference under the pump stop holding condition, but can be pushed open by the reverse-flowing fluid when the bidirectional pump 11 is working in reverse.

[0054] It is understandable that the effect of underwater environmental pressure on the valve plate's operation depends on the pressure difference across the valve plate, rather than simply adding the external water pressure to the pressure generated by the bidirectional pump 11. When the bidirectional pump 11 operates in reverse, it needs to generate an additional pressure on one side of the adsorption branch pipe 41 that is higher than the pressure difference maintained when the pump is stopped, in order to overcome the closing torque of the second torsion spring 42510.

[0055] In alternative embodiments, the first and second elastic reset members can also be a combination of a tension spring, a compression spring and a push rod, or an elastic sheet. For example, one end of the tension spring is fixed to the reset bracket 4251 or the connecting plate 42511, and the other end is connected to the corresponding connecting frame. The corresponding valve plate is reset by the contraction force of the tension spring. The first and second transmission components can also adopt a structure with a pin and an arc-shaped guide groove, or a telescopic linkage structure that can change length with the rotation of the valve plate, as long as the force generated by the elastic reset member can be transmitted to the corresponding valve plate.

[0056] On the other hand, such as Figure 6 As shown, the valve assembly 42 also includes a gate 427 and a gate torsion spring 428. The gate 427 is a rectangular plate-shaped member adapted to the cross-section of the pumping channel and is hinged to one end of the baffle 422 near the adsorption branch pipe 41. The gate 427 is rotatable about the hinge axis between itself and the baffle 422 and has an open position and a closed position.

[0057] When the gate 427 is in the open position, the gate 427 extends in the same direction as the first partition section 4221, keeping the pumping channel connected to the adsorption branch pipe 41. When the gate 427 is in the closed position, the gate 427 extends inclinedly into the pumping channel from the partition 422, with its end away from the partition 422 abutting against the inner wall of the valve group pipe 421, thereby blocking the end of the pumping channel near the adsorption branch pipe 41.

[0058] A gate torsion spring 428 is positioned at the hinge point between the gate 427 and the partition 422. One actuating end of the gate torsion spring 428 is connected to the gate 427, and the other actuating end is connected to the partition 422, driving the gate 427 to rotate from the open position to the closed position. During pumping, the water flow in the pumping channel towards the adsorption branch pipe 41 acts on the gate 427, causing the gate 427 to overcome the elastic force of the gate torsion spring 428 and rotate to the open position; during reverse desorption, the gate torsion spring 428 and the reverse water flow together drive the gate 427 to remain in the closed position.

[0059] Gate sealing strips 4271 are provided on both the periphery and bottom of gate 427. Specifically, a sealing groove is formed on the periphery of gate 427, and a gate sealing strip 4271 extending along the periphery of gate 427 is embedded in the sealing groove; a gate sealing strip 4271 is also provided on the bottom of gate 427, that is, on the edge of gate 427 near the hinge position with partition 422. When gate 427 is in the closed position, the gate sealing strip 4271 on the periphery elastically abuts against the inner wall of valve group pipe 421, and the gate sealing strip 4271 on the bottom seals the gap between gate 427 and partition 422, thereby reducing the amount of fluid transported in reverse that enters the pumping channel through the periphery or bottom of gate 427.

[0060] The following is combined Figures 7 to 9 The working process of the embodiments of this application will be described.

[0061] During water adsorption, such as Figure 2 and Figure 7 As shown, the bidirectional pump 11 operates in the pumping direction, creating a suction pressure difference between the main pipe 1 and the adsorption branch pipe 41. Water in the suction cup 43 passes sequentially through the water passage of the hinged ball head 45, the telescopic flow channel of the telescopic connector 442, and the inner cavity of the guide sleeve 441 into the valve group pipe 421.

[0062] Water flows into the pumping channel from the suction cup 43 side and acts on the side of the pumping valve plate 423 closest to the suction cup 43. The opening torque generated by the water flow overcomes the restoring torque of the first torsion spring 4259, causing the pumping valve plate 423 to rotate towards the suction branch pipe 41. During the rotation of the pumping valve plate 423, the first connecting frame 4253 rotates around the restoring shaft 4252, and the first slider 4254 slides along the first guide rail 4255. When the pumping valve plate 423 rotates to the fully open position extending in the same direction as the partition plate 422, the pumping channel is fully opened.

[0063] Meanwhile, the direction of the water flow on the desorption valve plate 424 is opposite to the direction in which the desorption valve plate 424 is allowed to open, and the desorption valve plate 424 remains closed under the combined action of the second torsion spring 42510 and the desorption limiting plate 4262. The water flow entering the pumping channel continues to flow towards the adsorption branch pipe 41 and pushes the gate plate 427 to rotate to the open position against the elastic force of the gate plate torsion spring 428. The water flow then enters the main pipe 1 through the adsorption branch pipe 41 and is discharged through the main fluid passage under the action of the bidirectional pump 11.

[0064] As water is continuously extracted from the suction cup 43, the pressure inside the suction cup 43 becomes lower than the external water pressure. The external water pressure presses the flexible suction skirt of the suction cup 43 tightly against the surface to be suctioned, thus creating a negative pressure suction force. Each telescopic mechanism 44 can retract to different degrees according to the height difference of the surface to be suctioned, and each hinged ball head 45 can swing accordingly according to the local tilt angle of the surface to be suctioned, so that multiple sets of suction cups 43 respectively adhere to the surface to be suctioned.

[0065] When the pump is stopped and held, such as Figure 2 and Figure 8 As shown, the bidirectional pump 11 stops working, and the directional water flow in the pumping channel disappears. The first torsion spring 4259 drives the first connecting frame 4253 to reset, and through the first slider 4254 and the first guide rail 4255, it drives the pumping valve plate 423 to rotate towards the suction cup 43 until the pumping valve plate 423 abuts against the pumping limit plate 4261 and closes the pumping channel. Fluid that may flow from the adsorption branch pipe 41 side to the suction cup 43 side will also press the pumping valve plate 423 against the pumping limit plate 4261, so the pumping valve plate 423 can prevent fluid from flowing back into the suction cup 43 through the pumping channel.

[0066] The second torsion spring 42510 drives the second connecting frame 4256 to reset, and through the second slider 4257 and the second guide rail 4258, the desorption valve plate 424 abuts against the desorption limiting plate 4262. Since the closing torque of the second torsion spring 42510 is greater than the opening torque generated by the static pressure difference on the desorption valve plate 424 under the pump stop holding condition, the desorption valve plate 424 remains closed and seals the desorption flow channel.

[0067] Simultaneously, the gate 427 rotates to the closed position under the action of the gate torsion spring 428, further sealing the end of the pumping channel near the adsorption branch pipe 41. The sealing structures on the pumping valve plate 423, the desorption valve plate 424, and the gate 427 together reduce the backflow of fluid into the suction cup 43, thereby delaying the attenuation of the pressure difference inside and outside the suction cup 43. Since each adsorption unit 4 is equipped with an independent valve group mechanism 42, when the seal of one adsorption unit 4 fails, its pressure change is not easily transmitted directly to other adsorption units 4 through the closed valve group mechanism 42.

[0068] During reverse desorption, such as Figure 2 and Figure 9As shown, the bidirectional pump 11 operates in reverse. External water enters the bidirectional pump 11 through the inlet and outlet pipes 3, and flows sequentially through the chamber 2, the main pipe 1, and the adsorption branch pipe 41 into the valve group mechanism 42. The reverse water pressure drives the desorption valve plate to open, allowing water to flow into the inner cavity of the suction cup 43 and eliminate the negative pressure between the suction cup 43 and the adhesion surface.

[0069] The fluid entering the pumping channel pushes the gate 427 against the inner wall of the valve assembly pipe 421, keeping the gate 427 closed. The reverse fluid also exerts a force on the pumping valve plate 423 toward the suction cup 43, but the pumping valve plate 423 is restricted by the pumping limit plate 4261 and cannot open toward the suction cup 43. Therefore, the pumping channel remains closed, and the reverse-flowing fluid has difficulty entering the suction cup 43 through the pumping channel.

[0070] The fluid entering the desorption channel acts on the side of the desorption valve plate 424 near the adsorption branch pipe 41. When the opening torque generated by the fluid is greater than the closing torque of the second torsion spring 42510, the desorption valve plate 424 rotates towards the suction cup 43. During the rotation of the desorption valve plate 424, the second connecting frame 4256 rotates around the reset shaft 4252, and the second slider 4257 slides along the second guide rail 4258 until the desorption valve plate 424 rotates to the fully open position extending in the same direction as the partition plate 422.

[0071] The reverse-flowing fluid flows along the desorption channel to the suction cup 43, and sequentially passes through the guide sleeve 441, the telescopic connector 442, and the hinged ball head 45 before entering the inner cavity of the suction cup 43. As the pressure inside the suction cup 43 increases, the pressure difference between the inside and outside of the suction cup 43 gradually decreases, and the adsorption force of the suction cup 43 on the surface to be adsorbed decreases accordingly, until the suction cup 43 can separate from the surface to be adsorbed. After the bidirectional pump 11 stops working in reverse, the second torsion spring 42510 drives the desorption valve plate 424 to abut against the desorption limit plate 4262 again, so that the desorption channel returns to the closed state.

[0072] In alternative embodiments, the outer contour of the valve assembly pipe 421 can be cylindrical, prismatic, or a combination of cylindrical and prismatic segments, and its inner cavity can be rectangular, circular, elliptical, or other shapes that can be separated by the baffle 422. The shapes of the pumping valve plate 423 and the desorption valve plate 424 are adapted to the cross-section of the corresponding flow channel. The valve assembly pipe 421, the baffle 422, and each valve plate can be made of stainless steel, copper alloy, engineering plastics, or composite materials.

[0073] In addition, in embodiments where further concentration of the desorption water flow is not required, the gate 427 can be omitted, and the directional opening of the two flow channels can be achieved solely through the pumping valve plate 423 and the desorption valve plate 424. When the surface to be adsorbed is relatively flat and the installation height of each suction cup 43 is consistent, the telescopic mechanism 44 can also be omitted, or the suction cup 43 can be directly connected to the valve assembly mechanism 42 through a hinged ball head 45 with a water passage.

[0074] In summary, this embodiment utilizes a bidirectional pump 11 to change the fluid delivery direction and employs a pumping valve plate 423, a desorption valve plate 424, a limiting structure 426, and a reset mechanism 425 to passively respond to the water flow direction, enabling the device to switch between three states: pumping adsorption, pump-stop holding, and reverse desorption. Simultaneously, the telescopic mechanism 44 and the hinged ball head 45 can compensate for the position and angle of the suction cup 43, thus balancing the stability of underwater adsorption with the convenience of desorption operation. Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A bidirectional flow-controlled negative pressure adsorption device for underwater robots, characterized in that, include: Main pipeline; The cabin has an internal manifold that communicates with the main pipeline; The inlet and outlet pipes are connected to the end of the cabin that is furthest from the main pipe; A two-way pump is installed between the cabin and the inlet and outlet pipes, and the two working ports of the two-way pump are respectively connected to the manifold and the inlet and outlet pipes; The adsorption unit is arranged in multiple sets around the main pipeline. The adsorption unit includes an adsorption branch pipe, a valve group mechanism and a suction cup connected in sequence. The end of the adsorption branch pipe away from the valve group mechanism is connected to the main pipeline. The valve assembly includes a valve assembly pipe, a baffle plate, a pumping valve plate, a desorption valve plate, a reset mechanism, and a limiting structure. The baffle plate is located inside the valve assembly pipe and separates the pumping flow channel and the desorption flow channel. The pumping valve plate and the desorption valve plate are both hinged to the end of the baffle plate near the suction cup. The limiting structure causes the pumping valve plate to open only towards the adsorption branch pipe side and the desorption valve plate to open only towards the suction cup side. The reset mechanism is connected to the two valve plates and drives the two valve plates to close the corresponding flow channels.

2. The underwater robot bidirectional flow-controlled negative pressure adsorption device according to claim 1, characterized in that, The inner cross-section of the valve group pipeline is rectangular. When the pumping valve plate and the desorption valve plate are in the closed position, they are both perpendicular to the extension direction of the valve group pipeline and cover the corresponding flow channels respectively. The periphery of the pumping valve plate and the desorption valve plate are fixed with sealing strips.

3. The underwater robot bidirectional flow-controlled negative pressure adsorption device according to claim 2, characterized in that, The limiting structure includes a pumping limiting plate and a desorption limiting plate. The pumping limiting plate is fixed to the inner wall of the valve group pipe and is located on the side of the pumping valve plate away from the partition and close to the suction cup. The desorption limiting plate is fixed to the inner wall of the valve group pipe and is located on the side of the desorption valve plate away from the partition and close to the adsorption branch pipe.

4. The underwater robot bidirectional flow-controlled negative pressure adsorption device according to claim 3, characterized in that, The hinge axis of the pumping valve plate is located at the corner of the pumping valve plate near the partition and near the adsorption branch pipe, and the hinge axis of the desorption valve plate is located at the corner of the desorption valve plate near the partition and near the suction cup. Both the pumping valve plate and the desorption valve plate have a fully open position extending in the same direction as the partition.

5. The underwater robot bidirectional flow-controlled negative pressure adsorption device according to claim 3, characterized in that, The reset mechanism includes a support assembly, a first transmission assembly, a second transmission assembly, a first elastic reset member, and a second elastic reset member. The support assembly is fixed to one end of the partition near the suction cup. The first transmission assembly and the second transmission assembly are rotatably connected to the support assembly and movably connected to the pumping valve plate and the desorption valve plate, respectively. The first elastic reset member and the second elastic reset member are respectively disposed between the support assembly and the corresponding transmission assembly, and respectively drive the pumping valve plate to abut against the pumping limit plate and drive the desorption valve plate to abut against the desorption limit plate.

6. The underwater robot bidirectional flow-controlled negative pressure adsorption device according to claim 5, characterized in that, The support assembly includes a reset bracket and a reset rotating shaft. The reset bracket is fixed to the partition plate, and the reset rotating shaft is fixed to the reset bracket and located on the side of the partition plate near the pump valve plate. The first transmission assembly includes a first connecting frame, a first slider, and a first guide rail. The second transmission assembly includes a second connecting frame, a second slider, and a second guide rail. Both connecting frames are rotatably mounted on the reset rotating shaft. The two guide rails are respectively located on the side of the corresponding valve plate near the suction cup. The two sliders are respectively hinged to the end of the corresponding connecting frame away from the reset rotating shaft and slidably mounted on the corresponding guide rail.

7. The underwater robot bidirectional flow-controlled negative pressure adsorption device according to claim 6, characterized in that, A connecting plate is fixed in the middle of the reset shaft; the first elastic reset member is a first torsion spring disposed between the first connecting frame and the connecting plate, and the first torsion spring drives the first connecting frame to rotate toward the suction cup side; the second elastic reset member is a second torsion spring disposed between the second connecting frame and the reset bracket, and the second torsion spring drives the second connecting frame to rotate toward the adsorption branch tube side.

8. The underwater robot bidirectional flow-controlled negative pressure adsorption device according to claim 1, characterized in that, The valve assembly mechanism further includes a gate and a gate torsion spring. The gate is hinged to one end of the partition near the adsorption branch pipe. The gate has an open position extending in the same direction as the partition and a closed position extending into the water pumping channel and abutting the inner wall of the valve assembly pipe. The gate torsion spring is disposed between the gate and the partition and drives the gate to be in the closed position.

9. The underwater robot bidirectional flow-controlled negative pressure adsorption device according to claim 1, characterized in that, The partition includes a first partition section, a connecting section, and a second partition section connected in sequence. The first partition section is close to the adsorption branch pipe, and the second partition section is close to the suction cup. The first partition section and the second partition section are parallel and offset laterally along the valve group pipeline. The connecting section is inclinedly connected between the two, so that the flow cross-sectional area of ​​the pumping channel near the suction cup is larger than the flow cross-sectional area near the adsorption branch pipe, and the flow cross-sectional area of ​​the desorption channel near the adsorption branch pipe is larger than the flow cross-sectional area near the suction cup.

10. The underwater robot bidirectional flow-controlled negative pressure adsorption device according to claim 1, characterized in that, A telescopic mechanism is provided between the valve assembly and the suction cup. The telescopic mechanism includes a guide sleeve, a telescopic connector, and a compression spring. The guide sleeve is connected and communicates with the valve assembly. The telescopic connector slides along the axial direction of the guide sleeve. One end of the telescopic connector near the valve assembly has an annular retaining edge located inside the guide sleeve, and the other end extends out of the guide sleeve. The compression spring is sleeved on the telescopic connector, with its two ends abutting against the guide sleeve and the annular retaining edge, respectively, to drive the telescopic connector to extend towards the suction cup. One end of the guide sleeve near the suction cup has a limiting step that abuts against the annular retaining edge. The telescopic connector has a telescopic flow channel that communicates with the inner cavity of the guide sleeve. The top of the suction cup has a hinged ball head with a water passage. The hinged ball head is rotatably disposed at one end of the telescopic connector near the suction cup. The water passage connects the telescopic flow channel and the inner cavity of the suction cup.

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