Emergency floating device for underwater robot
By incorporating a counterweight frame, an air supply mechanism, and an end cap into the emergency surfacing device for underwater robots, the potential for malfunctions and reliability issues of existing devices have been resolved, achieving a rapid and reliable surfacing effect.
Patent Information
- Application Number
- CN202520389764.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-07
- Publication Date
- 2025-12-23
- Estimated Expiration
- 2035-03-07
AI Technical Summary
Existing emergency surfacing devices for underwater robots have safety hazards such as failure of the air supply mechanism or airbags, which may prevent them from surfacing. The airbags are easily damaged, and the lack of air pressure regulation and limiting structures results in poor surfacing reliability.
An emergency buoyancy device was designed, comprising a counterweight frame, an air supply mechanism, and an end cap. The counterweight frame replaces the robot's counterweight with a counterweight block, the air supply mechanism regulates the air pressure through a regulating valve, and the end cap restricts the movement of the airbag through a limiting plate, ensuring the safety and reliability of the buoyancy process.
This technology enables underwater robots to surface quickly and reliably in emergency situations, avoiding damage caused by malfunctions in the air supply mechanism or airbags, and improving the success rate and safety of surfacing.
Smart Images
Figure CN223702918U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model belongs to underwater robot accessory technical field especially relates to an emergency floating device for underwater robot. BACKGROUND
[0002] Underwater robot, as an important part of modern marine technology, with its powerful underwater operation ability, plays an irreplaceable role in many fields such as marine detection, underwater construction, underwater rescue and scientific research. However, due to the complexity and uncertainty of the underwater environment, underwater robots often face various emergency situations during operation, such as communication interruption, power system failure or unexpected obstacles, etc. These situations may cause the robot to fail to float normally to the water surface, and further cause serious safety problems.
[0003] In order to deal with these emergency situations, a variety of underwater robot emergency floating devices have appeared in the market. These devices are usually based on high-pressure cylinders, electromagnetic valves and airbags. In emergency situations, by opening the electromagnetic valve, the compressed gas in the high-pressure cylinder is rapidly released and filled into the airbag, so that the airbag rapidly expands and generates enough buoyancy, thereby helping the underwater robot overcome gravity and float to the water surface.
[0004] However, although the existing underwater robot emergency floating device solves the problem of emergency floating to some extent, it still exposes some significant deficiencies and defects in actual application:
[0005] Firstly, the existing underwater robot emergency floating device only relies on the buoyancy of the airbag to realize floating, once the gas supply mechanism or the airbag fails or is damaged, the underwater robot will lose the ability to float, which has a great safety hazard; Secondly, the existing underwater robot emergency floating device does not set a gas pressure regulating mechanism between the high-pressure cylinder and the airbag, the high-pressure gas will be directly filled into the airbag, which is easy to cause the airbag to be damaged due to bearing too much pressure, which not only affects the reliability of floating, but also may cause damage to other parts of the robot; In addition, after the existing underwater robot emergency floating device completes the inflation of the airbag, the upper end of the airbag is not provided with a limiting structure, at this time, the buoyancy of the airbag is upward, and the resistance of the underwater robot when floating is downward, the confrontation of such forces is easy to cause the airbag to be damaged inside the airbag box, and further cause the underwater robot to fail to float.
[0006] Therefore, it is necessary to invent an emergency floating device for underwater robot. UTILITY MODEL CONTENT
[0007] The utility model aims at providing an emergency floating device for underwater robot, which solves the problems mentioned in the background art.
[0008] To solve the above technical problems, the utility model is through the following technical solutions:
[0009] The utility model discloses an emergency floating device for underwater robot, including shell, roof, counterweight frame, gas supply mechanism, gasbag box, end cover and controller, the shell is fixed with the frame body of underwater robot through bolt, and the upside of shell is fixed with roof through bolt, the both sides inside of shell are all fixed with counterweight frame, and the middle part of shell is fixed with gas supply mechanism through bolt, the upside of roof is fixed with gasbag box through bolt, wherein the inside of gasbag box is fixed with gasbag, and the output end of gas supply mechanism is fixed with the gasbag through gas pipe, the upper end of gasbag box is buckled with end cover, the inside of shell is fixed with controller through bolt, wherein controller is electrically connected with the control module and gas supply mechanism of underwater robot through data line.
[0010] Further, the counterweight frame includes a positioning plate, a first electromagnet, a counterweight block and a spring. The positioning plate is fixed inside the shell by bolts, and the outer side of the positioning plate is fixed with the first electromagnet by bolts. The side of the first electromagnet is fixed with the counterweight block by adsorption. The outer side of the counterweight block is slidably connected with the inner wall of the shell. The positioning plate is provided with an inward groove, and the spring is fixed inside the groove. The other end of the spring is in contact with the counterweight block, and the initial state of the spring is compressed. The first electromagnet is electrically connected with the controller through a data line. This arrangement can replace the counterweight of the underwater robot with the counterweight block, thereby ensuring the balance of the underwater robot during driving. In addition, when the underwater robot is interrupted in external communication, the counterweight block can be removed, so that the underwater robot floats up under the action of buoyancy.
[0011] Further, the gas supply mechanism includes a high-pressure gas cylinder, a limiting frame, a solenoid valve and an adjusting valve. The outer side of the high-pressure gas cylinder is fixed with several limiting frames, and the limiting frames are fixed with the inner wall of the shell by bolts. The output end of the high-pressure gas cylinder is fixed with the solenoid valve, and the other end of the solenoid valve is connected with the adjusting valve through a gas pipe. The other end of the adjusting valve is connected with the gasbag inside the gasbag box through a gas pipe. The solenoid valve is electrically connected with the controller through a data line. This arrangement can inflate the gasbag when the underwater robot needs to float up urgently.
[0012] Further, the shell is fixed with outwardly protruding water distribution frames at both ends. This arrangement can reduce the resistance of the device when driving in water.
[0013] Further, the end cover comprises a cover plate, a slide column, a limiting plate and a second electromagnet, the cover plate is buckled at the upper end of the air bag box, and the lower sides of the two ends of the cover plate are fixed with the slide column through welding, and the slide column is connected with the shell in sealing sliding mode; the lower ends of the slide columns are fixed with the limiting plates through welding, the diameter of the limiting plate is larger than that of the slide column, and the initial state of the limiting plate is adsorbed and fixed with the second electromagnet; the second electromagnet is fixed in the shell through bolts, and the second electromagnet is electrically connected with the controller through a data line, so that the air bag box can be sealed during normal use, and the air bag can be prevented from being damaged in the air bag box during emergency floating.
[0014] Compared with the prior art, the utility model has the advantages of:
[0015] 1. The setting of the counterweight frame can replace the counterweight of the underwater robot by the counterweight block, and the weight of the two counterweight frames can be changed to ensure the balance of the underwater robot during driving, when the underwater robot is interrupted in external communication or encounters an emergency, the device can disconnect the power supply circuit of the first electromagnet, so that the counterweight block automatically slides down under the elastic force of the spring, reduces the overall weight of the underwater robot, and then uses the buoyancy of water to make the underwater robot float to the water surface quickly, thereby avoiding the damage of the air supply mechanism or the air bag box, which causes the underwater robot to be unable to float up urgently.
[0016] 2. The setting of the air supply mechanism can inflate the air bag by opening the electromagnetic valve to make the high-pressure gas in the high-pressure cylinder inflate the air bag, and then make the underwater robot float up by the inflation of the air bag, the setting of the adjusting valve can reduce the pressure of the high-pressure gas output from the high-pressure cylinder to make it suitable for the pressure range of the air bag inflation, which ensures the inflation efficiency of the air bag and avoids the risk of damaging the air bag due to excessive pressure.
[0017] 3. The setting of the end cover can seal the air bag box during normal use, and the controller can release the adsorption force of the second electromagnet on the limiting plate when emergency floating is needed, so that the cover plate moves with the inflation of the air bag, and the limiting plate can limit the limit moving distance of the cover plate, so that the cover plate can avoid the separation and damage of the air bag and the air bag box due to the opposite force of the buoyancy of the air bag and the resistance of the underwater robot when floating up after the inflation of the air bag is completed. BRIEF DESCRIPTION OF DRAWINGS
[0018] In order to more clearly illustrate the technical scheme of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiment description, obviously, the drawings in the following description are only some embodiments of the present application, and for the ordinary skilled in the art, other drawings can be obtained without creative labor on the basis of these drawings.
[0019] Fig. 1 is the structural schematic diagram of the shell of the present application.
[0020] Fig. 2 is the structural schematic diagram of the shell of the present application.
[0021] Fig. 3 is the structural schematic diagram of the air supply mechanism of the present application.
[0022] Fig. 4 is the structural schematic diagram of the end cover of the present application.
[0023] In the drawings:
[0024] 1-shell, 2-top plate, 3-counterweight frame, 31-positioning plate, 32-first electromagnet, 33-counterweight block, 34-spring, 4-air supply mechanism, 41-high pressure gas cylinder, 42-limiting frame, 43-solenoid valve, 44-regulating valve, 5-air bag box, 6-end cover, 61-cover plate, 62-sliding column, 63-limiting plate, 64-second electromagnet, 7-controller, 8-water distribution frame. DETAILED DESCRIPTION
[0025] The technical scheme in the embodiments of the present application will be described clearly and completely in combination with the drawings in the embodiments of the present application, obviously, the described embodiments are only some embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by the ordinary skilled in the art without creative labor are within the protection scope of the present application.
[0026] In the description of the present application, it is understood that the terms "upper", "middle", "outer", "inner", "periphery" and the like indicate the orientation or positional relationship, only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the indicated components or elements must have a particular orientation, be constructed and operated, therefore, it cannot be understood as a limitation of the present application.
[0027] Please refer to Figs. 1-4As shown, the utility model is a kind of emergency floating device for underwater robot, including shell 1, top plate 2, counterweight frame 3, gas supply mechanism 4, air bag box 5, end cap 6 and controller 7, shell 1 is fixed with the frame upper end of underwater robot by bolt, and the upper side of shell 1 is fixed with top plate 2 by bolt;The inside of both sides of shell 1 is fixed with counterweight frame 3, and the middle part of shell 1 is fixed with gas supply mechanism 4 by bolt;The upper side of top plate 2 is fixed with air bag box 5 by bolt, wherein the inside of air bag box 5 is fixed with air bag, and the air bag is fixed with the output end of gas supply mechanism 4 by gas pipe;The upper end of air bag box 5 is buckled with end cap 6;The inside of shell 1 is fixed with controller 7 by bolt, wherein controller 7 is electrically connected with the control module of underwater robot and gas supply mechanism 4 by data line respectively.
[0028] Specifically, counterweight frame 3 includes positioning plate 31, first electromagnet 32, counterweight block 33 and spring 34, positioning plate 31 is sealingly fixed in the inside of shell 1, and the outer side of positioning plate 31 is fixed with first electromagnet 32 by bolt, and the side of first electromagnet 32 is fixed with counterweight block 33 by adsorption, wherein the outer side of counterweight block 33 is slidably connected with the inner wall of shell 1;Positioning plate 31 is provided with inward recess, and the inside of the recess is fixed with spring 34, wherein the other end of spring 34 is in contact with counterweight block 33, and the initial state of spring 34 is compression state;First electromagnet 32 is electrically connected with controller 7 by data line, when using, the counterweight of underwater robot can be replaced by counterweight block 33, and the weight of two counterweight frames 33 is changed, so that underwater robot can ensure balance when driving, wherein when underwater robot is interrupted in external communication, underwater robot can disconnect the power supply line of first electromagnet 32, so that counterweight block 32 slides in shell 1 under the elastic force of spring 34, thereby reducing the overall weight of underwater robot, so that the gravity of underwater robot is less than the buoyancy of water, and then underwater robot floats up.
[0029] Specifically, gas supply mechanism 4 includes high-pressure gas cylinder 41, limiting frame 42, electromagnetic valve 43 and regulating valve 44, the outer side of high-pressure gas cylinder 41 is fixed with several limiting frames 42, wherein limiting frame 42 is fixed with the inner wall of shell 1 by bolt;The output end of high-pressure gas cylinder 41 is fixed with electromagnetic valve 43, wherein the other end of electromagnetic valve 43 is connected with regulating valve 44 by gas pipe, and the other end of regulating valve 44 is connected with the air bag in the inside of air bag box 5 by gas pipe;Electromagnetic valve 43 is electrically connected with controller 7 by data line, when underwater robot needs emergency floating, high-pressure gas in high-pressure gas cylinder 41 can be inflated to air bag by opening electromagnetic valve 43, wherein the setting of regulating valve 44 can reduce the pressure of high-pressure gas output from high-pressure gas cylinder 41, so as to meet the inflation requirements of air bag.
[0030] Specifically, the outer shell 1 is fixed with the outwardly convex water distribution frame 8 at both ends, which can reduce the resistance of the device when the underwater robot moves in water, thereby reducing the influence of the device on the underwater robot.
[0031] Specifically, the end cover 6 comprises a cover plate 61, a slide column 62, a limiting plate 63 and a second electromagnet 64, the cover plate is buckled at the upper end of the air bag box 5, and the lower side of both ends of the cover plate 61 is fixed with the slide column 62 through welding, and the slide column 62 is connected with the outer shell 1 in sealing sliding mode; the lower end of the slide column 62 is fixed with the limiting plate 63 through welding, wherein the diameter of the limiting plate 63 is larger than that of the slide column 62, and the initial state of the limiting plate 63 is adsorbed and fixed with the second electromagnet 64; the second electromagnet 64 is fixed in the outer shell 1 through bolts, and the second electromagnet 64 is electrically connected with the controller 7 through a data line, in normal use, the cover plate 61 can seal the air bag box 5, and when emergency floating is needed, the controller 7 can release the adsorption force of the second electromagnet 64 on the limiting plate 63, so that the cover plate 61 moves with the inflation of the air bag, wherein the limiting plate 63 can limit the limit moving distance of the cover plate 61, and after the air bag is inflated, the cover plate 61 can avoid the situation that the air bag is damaged due to the opposite force between the buoyancy of the air bag and the resistance of the underwater robot when floating up.
[0032] Please refer to Figs. 1-4 The utility model discloses an emergency floating device for underwater robot, and its working principle is as follows: when using, the counterweight frame 3 can ensure the balance of the underwater robot when driving, and the water distribution frame 8 can reduce the influence of the device on the underwater robot, when the underwater robot is interrupted in external communication or encounters an emergency, the underwater robot can send a signal to the controller 7, and then the working state of the counterweight frame 3, the air supply mechanism 4 and the end cover 6 is controlled through the controller 7, the weight of the underwater robot is reduced through the counterweight frame 3, the air bag is inflated through the air supply mechanism 4, so that the underwater robot is floated up through the buoyancy of the air bag.
[0033] In the description of the present specification, the description of the terms "one embodiment", "example", "specific example" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are contained in at least one embodiment or example of the utility model. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.
[0034] The preferred embodiments disclosed above are only used to help describe the utility model. The preferred embodiments do not describe all the details and do not limit the utility model to the specific embodiments. Obviously, according to the content of the specification, many modifications and changes can be made. The specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the utility model, so that the persons skilled in the art can well understand and utilize the utility model. The utility model is limited by the claims and the entire scope and equivalents thereof.
Claims
1. An emergency surfacing device for an underwater robot, comprising a shell (1), a top plate (2), a counterweight frame (3), an air supply mechanism (4), an airbag box (5), an end cap (6), and a controller (7), characterized in that: The outer shell (1) is fixed to the frame of the underwater robot, and a top plate (2) is fixed to the upper side of the outer shell (1); a counterweight frame (3) is fixed inside both sides of the outer shell (1), and an air supply mechanism (4) is fixed in the middle of the outer shell (1); an airbag box (5) is fixed to the upper side of the top plate (2), wherein an airbag is fixed inside the airbag box (5), and the airbag is fixed to the output end of the air supply mechanism (4) through an air supply pipe; an end cap (6) is fastened to the upper end of the airbag box (5); a controller (7) is fixed inside the outer shell (1), wherein the controller (7) is electrically connected to the control module of the underwater robot and the air supply mechanism (4) through a data cable respectively.
2. The emergency surfacing device for an underwater robot as described in claim 1, characterized in that: The counterweight frame (3) includes a positioning plate (31), a first electromagnet (32), a counterweight block (33), and a spring (34). The positioning plate (31) is fixed inside the outer shell (1) by bolts, and the first electromagnet (32) is fixed on the outer side of the positioning plate (31). The counterweight block (33) is fixed on the side of the first electromagnet (32) by adsorption. The outer side of the counterweight block (33) is slidably connected to the inner wall of the outer shell (1). The positioning plate (31) is provided with an inward groove. The spring (34) is fixed inside the groove. The other end of the spring (34) is in contact with the counterweight block (33), and the initial state of the spring (34) is a compressed state. The first electromagnet (32) is electrically connected to the controller (7) through a data line.
3. The emergency surfacing device for an underwater robot as described in claim 1, characterized in that: The gas supply mechanism (4) includes a high-pressure gas cylinder (41), a limiting frame (42), a solenoid valve (43), and a regulating valve (44). Several limiting frames (42) are fixed on the outer side of the high-pressure gas cylinder (41), and the limiting frames (42) are all fixed to the inner wall of the outer shell (1). A solenoid valve (43) is fixed at the output end of the high-pressure gas cylinder (41). The other end of the solenoid valve (43) is connected to the regulating valve (44) through a gas supply pipe. The other end of the regulating valve (44) is connected to the airbag inside the airbag box (5) through a gas supply pipe. The solenoid valve (43) is electrically connected to the controller (7) through a data line.
4. The emergency surfacing device for an underwater robot as described in claim 1, characterized in that: Both ends of the outer shell (1) are fixed with outwardly protruding water distribution frames (8).
5. The emergency surfacing device for an underwater robot as described in claim 1, characterized in that: The end cap (6) includes a cover plate (61), a sliding column (62), a limiting plate (63), and a second electromagnet (64). The cover plate is fastened to the upper end of the airbag box (5), and the lower sides of both ends of the cover plate (61) are fixed with sliding columns (62). The sliding columns (62) are slidably connected to the outer shell (1). The lower ends of the sliding columns (62) are fixed with limiting plates (63), wherein the diameter of the limiting plates (63) is larger than the diameter of the sliding columns (62), and the initial state of the limiting plates (63) is attracted and fixed to the second electromagnet (64). The second electromagnet (64) is fixed inside the outer shell (1), and the second electromagnet (64) is electrically connected to the controller (7) through a data line.