An underwater robot emergency floating device based on magnetic force triggering and chemical gas production

Abstract

The utility model relates to an underwater robot emergency floating device based on magnetic force trigger and chemical gas production. Including ship type sealing casing, buoyancy mechanism, third permanent magnet ring, lifting rod, micro electric push rod and microcontroller, ship type sealing casing roof symmetry installs buoyancy mechanism, and buoyancy mechanism contains generating jar, launching pipe, puncture cone and other components, and sodium bicarbonate is built -in in generating jar, and citric acid is built -in in catalyst sealing sac, the both ends of lifting rod are connected third permanent magnet ring, and the magnetic cooperation with first permanent magnet ring, second permanent magnet ring on puncture cone drives lifting by micro electric push rod. Microcontroller connects micro electric push rod and sealed joint, receives external signal trigger reaction, and the gas produced is inflated gasbag through flow guide channel, exhaust hole. Its compact structure, trigger reliable, symmetrical buoyancy mechanism guarantees the stable floating posture, and the sealing design adapts underwater working condition, can provide sufficient buoyancy quickly, is convenient for installation maintenance, solves the existing device trigger lag, and the problem such as insufficient inflation.

Description

Technical Field

[0001] This utility model belongs to the field of emergency surfacing technology for underwater robots, and relates to an emergency surfacing device for underwater robots based on magnetic triggering and chemical gas generation. Background Technology

[0002] Underwater robots, as an important component of modern marine technology, play an irreplaceable role in various fields such as ocean exploration, underwater construction, underwater rescue, and scientific research, thanks to their powerful underwater operational capabilities. However, due to the complexity and uncertainty of the underwater environment, underwater robots often face various emergencies during operations, such as communication interruptions, power system failures, or encounters with unexpected obstacles. These situations may prevent the robot from surfacing normally, leading to serious safety issues.

[0003] Existing Chinese patent CN223702918U discloses an emergency surfacing device for an underwater robot, comprising a shell, a top plate, a counterweight frame, an air supply mechanism, an airbag box, an end cap, and a controller. The shell is fixed to the frame of the underwater robot, and the airbag box is fixed to the upper side of the shell via the top plate. Counterweight frames are fixed inside both sides of the shell, and the air supply mechanism is fixed in the middle of the shell. An airbag is fixed inside the airbag box, and the airbag is fixed to the output end of the air supply mechanism via an air supply pipe. An end cap is fastened to the upper end of the airbag box. A controller is fixed inside the shell. This invention provides a dual surfacing mechanism through the counterweight frame, air supply mechanism, airbag box, and end cap, thus providing double protection for the emergency recovery of the underwater robot. Secondly, it can prevent damage to the airbag during inflation. Furthermore, it can prevent the airbag from detaching from the airbag box during surfacing. However, the device relies solely on spring force to release the counterweight. If the spring becomes fatigued or stuck due to prolonged compression, it will directly cause the counterweight release to fail, resulting in the loss of one layer of buoyancy protection. At the same time, the gas supply mechanism is only equipped with one set of high-pressure gas cylinders and solenoid valves. If the solenoid valve malfunctions, the high-pressure gas cylinder leaks, or the gas pressure is insufficient, the airbag will not be able to inflate, and the second layer of buoyancy mechanism will fail.

[0004] Therefore, this utility model provides an emergency buoyancy device to solve the above problems. Summary of the Invention

[0005] In view of the problems existing in the prior art, this utility model discloses an emergency surfacing device for an underwater robot based on magnetic triggering and chemical gas generation. The technical solution adopted is as follows: it includes a ship-shaped sealed shell, and buoyancy mechanisms are symmetrically installed at the left and right ends of the top plate of the ship-shaped sealed shell. The buoyancy mechanism includes a generating tank screwed into the top plate of the ship-shaped sealed shell. The bottom centers of the left and right generating tanks are respectively provided with upward grooves. The center of the groove inside the tank is located with a bottom-sealed launching tube. A piercing cone is movably installed inside the launching tube. The piercing cone has a circumferential array of inclined surfaces that obliquely penetrates downward to form a flow channel. A first permanent magnet ring is fixedly installed at the bottom end of the piercing cone and at the upper end of the opening of the launching tube. A second permanent magnet ring is fixedly mounted on the upper end of the generator can. An exhaust ring is fixedly mounted on the inner wall of the upper end of the can. An exhaust hole is opened in a circumferential array on the circumferential side wall of the exhaust ring. The inner ring of the exhaust ring is threaded and screwed onto a catalyst sealing bag. A cover is screwed onto the threaded outer wall of the upper end of the generator can. The top of the cover is connected to and sealed to the lower end of the gas bag. The outer sides of the left and right launch tubes are respectively connected to the movable third permanent magnet rings. The left and right third permanent magnet rings are respectively fixedly connected to the columns extending from both ends of the lifting rod. The top of the guide rod is fixedly connected to the inner wall of the top plate of the boat-shaped sealing shell. The center of the lifting rod is fixedly connected to the end of the telescopic shaft of the miniature electric actuator installed at the lower part of the top plate of the boat-shaped sealing shell. The openings on the left and right sides of the lifting rod are respectively movably mounted on the guide rod.

[0006] As a preferred embodiment of this utility model, L-shaped mounting plates are symmetrically installed on the top plates of the shell between the left and right buoyancy mechanisms, and mounting holes are respectively opened at the front and rear ends of the upper sidewall of the L-shaped mounting plates; by using L-shaped mounting plates, it is convenient to install the underwater robot on the upper part of the device.

[0007] As a preferred embodiment of this utility model, the first permanent magnet ring and the third permanent magnet ring are magnetically attracted to each other; this design can ensure that the third permanent magnet ring attracts the first permanent magnet ring when it is at the bottom of the generating tube, so that the piercing cone is fixed in the lower position and avoids accidental triggering.

[0008] In a preferred embodiment of this invention, the second permanent magnet ring and the third permanent magnet ring are magnetically repulsive, and the repulsive force between them is greater than the attractive force between the first permanent magnet ring and the third permanent magnet ring. This design facilitates the rapid upward movement of the piercing cone when the third permanent magnet ring moves to the upper part, utilizing the repulsive force between it and the second permanent magnet ring to pierce the bottom of the upper catalyst sealing bag, allowing the built-in catalyst to flow out and react with the sodium bicarbonate in the generating tank to quickly generate gas.

[0009] In a preferred embodiment of this invention, the catalyst sealing bladder contains citric acid, and the generating tank contains sodium bicarbonate.

[0010] As a preferred embodiment of this utility model, a micro controller is installed on the top plate of the left front side housing of the micro electric actuator. The micro controller is electrically connected to a sealing joint located on the top of the housing via a wire. It is also electrically connected to a sealing joint led out from the underwater robot controller via a sealing joint.

[0011] The beneficial effects of this utility model are: The ship-shaped sealed shell design not only ensures the overall sealing performance of the device, preventing seawater from seeping in and damaging internal components, but also reduces water flow resistance during the ascent process and improves ascent efficiency. By using the magnetic cooperation of the miniature electric actuator, lifting rod, third permanent magnet ring and the first and second permanent magnet rings on the piercing cone, the catalyst sealing bag can be pierced quickly and accurately, with a rapid trigger response. This solves the problem of trigger lag in existing chemical gas generation devices. Furthermore, the flow channel on the piercing cone cooperates with the exhaust hole of the exhaust ring, which allows the gas generated by the chemical reaction to be quickly and smoothly introduced into the gas bag, ensuring that the gas bag is fully filled and that there is sufficient buoyancy for buoyancy. The generator canister is screwed onto the top plate of the ship-shaped sealed shell by threads. The cover, generator canister and airbag are all connected by sealing kits or threads. The catalyst sealing bag is threaded to the exhaust ring, which facilitates the disassembly, replacement and maintenance of the components. They can be reused and reduce the cost of use. The L-shaped mounting plate facilitates the overall fixation of the device onto the underwater robot, making installation convenient and highly adaptable. The combination of the microcontroller and the sealed joint enables stable transmission of external signals and precise control of the device. The overall structure is compact and rationally designed, with reliable triggering and efficient gas generation, effectively solving many defects of existing emergency surfacing devices and providing reliable protection for the emergency recovery of underwater robots. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a cross-sectional view of the overall structure of this utility model; Figure 3 This is a detailed cross-sectional view of the buoyancy mechanism of this utility model.

[0013] In the diagram: 1-Boat-shaped sealing shell, 11-L-shaped mounting plate, 2-Buoyancy mechanism, 21-Generating tank, 211-Groove, 22-Injection tube, 23-Piercing cone, 231-Guide channel, 24-First permanent magnet ring, 25-Second permanent magnet ring, 26-Exhaust ring, 261-Exhaust port, 27-Catalyst sealing bladder, 28-Cover, 29-Gas bladder, 3-Third permanent magnet ring, 4-Lifting rod, 41-Guide rod, 5-Miniature electric actuator, 6-Miniature controller, 61-Sealing joint. Detailed Implementation Example 1

[0014] like Figures 1 to 3 As shown, the underwater robot emergency buoyancy device based on magnetic triggering and chemical gas generation described in this utility model adopts the following technical solution: It includes a ship-shaped sealed shell 1. L-shaped mounting plates 11 are symmetrically installed on the top plate of the shell between the left and right buoyancy mechanisms 2. Mounting holes are respectively opened at the front and rear ends of the upper sidewall of the L-shaped mounting plates 11 for mounting and fixing the underwater robot. The left and right ends of the top plate of the ship-shaped sealed shell 1 are symmetrically opened to seal and insert the buoyancy mechanisms 2. The buoyancy mechanism 2 includes a generating tank 21 screwed into the top plate of the ship-shaped sealed shell. The generating tank 21 contains sodium bicarbonate. The bottom of the left and right generating tanks 21... On one side of the center of the canister, grooves 211 are respectively opened upwards. A bottom-sealed launching tube 22 is opened downwards from the center of the grooves 211 inside the canister. A piercing cone 23 is movably fitted inside the launching tube 22. A guide channel 231 is obliquely opened downwards through the circumferential array of the cone tip of the piercing cone 23. A first permanent magnet ring 24 is fixedly fitted at the bottom end of the piercing cone 23 of the launching tube 22. The first permanent magnet ring 24 and the third permanent magnet ring 3 are magnetically attracted to each other. A second permanent magnet ring 25 is fixedly fitted at the upper end of the opening of the launching tube 22 of the piercing cone 23. The magnetic repulsion between the first permanent magnet ring 24 and the third permanent magnet ring 3 is greater than the attractive force between the first permanent magnet ring 24 and the third permanent magnet ring 3. An exhaust ring 26 is fixedly installed on the inner wall of the upper end of the generator tank 21. Exhaust holes 261 are formed in a circumferential array on the circumferential side wall of the exhaust ring 26. The inner ring of the exhaust ring 26 is threaded and fitted with a catalyst sealing bag 27. The catalyst sealing bag 27 contains citric acid. A cover 28 is screwed onto the threaded outer wall of the upper end of the generator tank 21. The top of the cover 28 is connected and sealed to the lower port of the air bag 29. The left and right launching tubes are connected. 22 The external parts are respectively connected to the movable third permanent magnet ring 3. The left and right third permanent magnet rings 3 are respectively fixedly connected to the columns extending from both ends of the lifting rod 4. The top of the guide rod 41 is fixedly connected to the inner wall of the top plate of the boat-shaped sealing housing 1. The center of the lifting rod 4 is fixedly connected to the end of the telescopic shaft of the miniature electric push rod 5 installed at the bottom of the top plate of the boat-shaped sealing housing 1. The openings on the left and right sides of the lifting rod 4 are respectively movably fitted onto the guide rod 41. The miniature electric push rod 5 is installed on the top plate of the housing on the left front side. The miniature controller 6 is electrically connected to the sealing joint 61 set on the top of the housing through wires.

[0015] The microcontroller 6 is installed on the lower part of the top plate of the boat-shaped sealed housing 1 on the left front side of the micro electric push rod 5. It is electrically connected to the micro electric push rod 5 through a sealed wire and is used to output control signals to drive the extension and retraction of the micro electric push rod 5, thereby realizing the lifting and resetting control of the piercing cone 23. At the same time, the microcontroller 6 is electrically connected to the sealed joint 61 through a sealed wire. The sealed joint 61 is fixed to the top of the boat-shaped sealed housing 1 and is used to receive external control signals from the underwater robot and transmit them to the microcontroller 6, so as to realize the signal communication between the device and the external control system. All wire connections are insulated and sealed. The wires are seawater-resistant and corrosion-resistant insulated wires, which meet the sealing and insulation requirements of underwater electrical connections, ensuring reliable connection in complex underwater environments and preventing short circuits caused by signal interference or seawater infiltration.

[0016] The working principle of this utility model is as follows: When the underwater robot malfunctions and needs to surface urgently, its control signal is transmitted to the microcontroller 6 through the sealed joint 61. The microcontroller 6 controls the micro electric push rod 5 to start. The telescopic shaft of the micro electric push rod 5 pushes the lifting rod 4 to move upward along the guide rod 41. The third permanent magnet ring 3 fixed at both ends of the lifting rod 4 moves upward accordingly. At this time, the attraction between the third permanent magnet ring 3 and the first permanent magnet ring 24 at the bottom of the piercing cone 23 gradually weakens, and the repulsive force between the third permanent magnet ring 3 and the second permanent magnet ring 25 at the top of the piercing cone 23 gradually takes effect. Because the repulsive force between the second permanent magnet ring 25 and the third permanent magnet ring 3 is greater than the attraction between the first permanent magnet ring 24 and the third permanent magnet ring 3, the piercing cone 23 is pushed along the launch path. The tube 22 moves upward rapidly, piercing the bottom of the catalyst sealing bag 27 with the tip of the piercing cone 23. The citric acid inside the catalyst sealing bag 27 flows out through the guide channel 231 and reacts chemically with the sodium bicarbonate inside the generator tank 21 to produce a large amount of gas. The gas enters the air bag 29 of the top sealing sleeve of the cover 28 through the exhaust holes 261 of the circumferential array of the exhaust ring 26, causing the air bag 29 to expand rapidly and generate buoyancy. The buoyancy mechanism 2, which is symmetrically arranged on the left and right, generates and inflates the gas simultaneously, jointly driving the underwater robot to achieve stable and rapid emergency ascent. After the reaction is over or when ascent is not required, the micro electric push rod 5 drives the lifting rod 4 to move down, and the third permanent magnet ring 3 and the first permanent magnet ring 24 re-adhere, pulling the piercing cone 23 to reset.

[0017] Electrical connection methods or structures not described in detail in this article are existing technologies.

[0018] While the specific embodiments of this utility model have been described in detail above, this utility model is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of this utility model. Modifications or variations that do not involve creative labor are still within the protection scope of this utility model.

Claims

1. An emergency surfacing device for an underwater robot based on magnetic triggering and chemical gas generation, characterized in that: The device includes a ship-shaped sealed housing (1), with symmetrical openings at the left and right ends of the top plate of the ship-shaped sealed housing (1) for sealing and inserting buoyancy mechanisms (2). The buoyancy mechanism (2) includes a generating tank (21) screwed into the top plate of the ship-shaped sealed housing. The left and right generating tanks (21) have grooves (211) facing each other at the bottom center. The grooves (211) are located inside the tank and have bottom-sealed launching tubes (22) at the center. A piercing cone (23) is movably installed inside the launching tube (22). The circumferential array of the cone head of the piercing cone (23) is obliquely downward to open a guide channel (231). A first permanent magnet ring (24) is fixedly installed at the bottom end of the piercing cone (23) and a second permanent magnet ring (25) is fixedly installed at the upper end of the opening of the launching tube (22). The inner wall of the upper end of the generating tank (21) is fixedly equipped with... An exhaust ring (26) is placed, and an exhaust hole (261) is opened in the circumferential array on the circumferential side wall of the exhaust ring (26). The inner ring of the exhaust ring (26) is threaded and a catalyst sealing bag (27) is screwed on. A cover (28) is screwed on the threaded outer wall of the upper end of the generator (21). The top of the cover (28) is connected to and sealed with the lower port of the air bag (29). The outer sides of the left and right launch tubes (22) are respectively fitted with the third permanent magnet ring (3). The left and right third permanent magnet rings (3) are respectively fixedly connected to the columns extending from both ends of the lifting rod (4). The top of the guide rod (41) is fixedly connected to the inner wall of the top plate of the ship-shaped sealing housing (1). The center of the lifting rod (4) is fixedly connected to the end of the telescopic shaft of the miniature electric push rod (5) installed at the lower part of the top plate of the ship-shaped sealing housing (1). The openings on the left and right sides of the lifting rod (4) are respectively movably fitted on the guide rod (41).

2. The underwater robot emergency surfacing device based on magnetic triggering and chemical gas generation according to claim 1, characterized in that: L-shaped mounting plates (11) are symmetrically installed on the top plates of the shell between the left and right buoyancy mechanisms (2), and mounting holes are opened at the front and rear ends of the upper sidewall of the L-shaped mounting plate (11).

3. The underwater robot emergency surfacing device based on magnetic triggering and chemical gas generation according to claim 1, characterized in that: The first permanent magnet ring (24) and the third permanent magnet ring (3) are magnetically attracted to each other.

4. The underwater robot emergency surfacing device based on magnetic triggering and chemical gas generation according to claim 1, characterized in that: The second permanent magnet ring (25) and the third permanent magnet ring (3) are magnetically repulsive, and the repulsive force between them is greater than the attractive force between the first permanent magnet ring (24) and the third permanent magnet ring (3).

5. The underwater robot emergency surfacing device based on magnetic triggering and chemical gas generation according to claim 1, characterized in that: The catalyst sealing bladder (27) contains citric acid, and the generating tank (21) contains sodium bicarbonate.

6. The underwater robot emergency surfacing device based on magnetic triggering and chemical gas generation according to claim 1, characterized in that: The micro electric actuator (5) has a micro controller (6) mounted on the top plate of the left front housing. The micro controller (6) is electrically connected to the sealing joint (61) located on the top of the housing via a wire.

Images