Device for synchronously jettisoning multiple loads of submersible, and jettisoning method

Abstract

A device for synchronously jettisoning multiple loads of a submersible, and a jettisoning method. The device for jettisoning comprises a manipulator (1), a sampling basket (2), a payload (3), a bearing frame (4), a manipulator mounting bottom plate (5), a starboard fixing bracket (6), a starboard limiting block (7), a port fixing bracket (8), a jettison actuator (9) and a port limiting block (10). The manipulator (1), the sampling basket (2) and the payload (3) are all mounted on the bearing frame (4) by means of assembly, and with the bearing frame (4), form an integral structure. The six degrees of freedom of the bearing frame (4) are constrained by the port limiting block (10) and the starboard limiting block (7), and the jettison actuator is hydraulically driven to execute a jettisoning action. The present device integrates multiple jettisoning functions, and one hydraulic cylinder can synchronously jettison three loads, i.e., the manipulator, the sampling basket and the payload, thereby optimizing hydraulic supply and electrical control strategies.

Description

A multi-load synchronous jettisoning device and method for submersibles Technical Field

[0001] This invention relates to the field of load release device technology, and in particular to a multi-load synchronous load release device and method for submersibles. Background Technology

[0002] To facilitate sampling of target objects and operation of specialized tools, some scientific research manned submersibles or tethered remotely operated vehicles (ROVs) are equipped with robotic arms and sampling baskets. The sampling basket provides a platform for carrying working tools or sampling boxes. Personnel can control the robotic arm to operate the tools on the sampling basket, collecting samples of seabed minerals, organisms, and water bodies. After collection, the robotic arm then places the samples into the sampling box for storage. Technical issues

[0003] Once the robotic arm and sampling basket on a submersible are exposed, there is a risk of them becoming entangled or stuck, which would directly threaten the safety of the submersible. Based on this consideration, some submersibles are equipped with release devices for the robotic arm and sampling basket. In dangerous situations, these devices can be jettisoned to escape. Currently, some existing technologies allow the robotic arm and sampling basket to be jettisoned independently. However, this independent jettison scheme has a problem: achieving the jettison of the robotic arm and sampling basket requires multiple sets of actuators, which, combined with each other, increases the complexity in terms of structure, hydraulics, electrical systems, and control. Technical solutions

[0004] To address the shortcomings of existing production technologies, this applicant provides a multi-load synchronous ejection device and method for submersibles, enabling the simultaneous ejection of the manipulator, sampling basket, and payload using only one ejection actuator. The overall solution is simple and reliable, resolving the structural, electromechanical, and control complexities of the submersible caused by the independent ejection of the manipulator and sampling basket.

[0005] The technical solution adopted in this invention is as follows:

[0006] A multi-load synchronous ejection device for a submersible includes a support frame with an opening on the top surface. An effective load is placed inside the support frame. A sampling basket is provided on the front end face of the support frame. A robotic arm mounting base plate is fixed to the upper right end of the support frame, and a robotic arm is fixed to the robotic arm mounting base plate.

[0007] A port side fixed bracket is installed at the left end of the load-bearing frame, and a ballast jettisoning mechanism is installed on the port side fixed bracket. A starboard side fixed bracket is installed at the right end of the load-bearing frame. The starboard side fixed bracket and the port side fixed bracket are connected and fixed to the submersible body.

[0008] Its further technical solution lies in:

[0009] The robotic arm, sampling basket, and payload are all assembled onto the load-bearing frame to form an integral structure.

[0010] A load-bearing frame lug is installed on the top surface of the left end of the load-bearing frame, and a port side bracket lug is installed on the lower part of the port side fixed bracket. The load-bearing frame lug and the port side bracket lug are connected by a separating pin. The head of the separating pin is connected to the hydraulic cylinder through a shaft connecting block, and the output end of the hydraulic cylinder is fixed to the shaft connecting block by fasteners.

[0011] The connection holes of the load-bearing frame lugs and the port side support lugs are kept concentric.

[0012] A port side limiting block is also installed between the lower part of the port side fixed bracket and the left end face of the bearing frame. The port side limiting block is composed of a port side concave cylindrical support block and a port side convex cylindrical support block, and the port side convex cylindrical support block and the port side concave cylindrical support block abut against each other.

[0013] A starboard limiting block is also installed between the starboard fixed bracket and the right end face of the bearing frame. The starboard limiting block is composed of a starboard concave cylindrical support block and a starboard convex cylindrical support block, and the starboard convex cylindrical support block abuts against the starboard concave cylindrical support block.

[0014] The port side limit block and the starboard side limit block form a self-locking structure, thereby constraining the six degrees of freedom of the load-bearing frame.

[0015] The port side fixed bracket has a right-angled cross-section.

[0016] The cross-section of the starboard fixed bracket is an arc-shaped structure.

[0017] A method for jettisoning a multi-load synchronous jettisoning device for a submersible includes the following operational steps:

[0018] After the load-dropping command is issued, the hydraulic cylinder, driven by hydraulic pressure, drives the release pin to move back and gradually detaches from the load-bearing frame lug and the port side bracket lug.

[0019] Under the influence of gravity, the port side convex cylindrical support block separates from the port side concave cylindrical support block, and the starboard side convex cylindrical support block also separates after rotating around the starboard side concave cylindrical support block by a certain angle.

[0020] The supporting frame, along with the robotic arm, sampling basket, and payload, fell together, detaching from the submersible body, completing the entire disposal process. Beneficial effects

[0021] This invention features a compact and reasonable structure and is easy to operate. Through the coordinated operation of components such as the robotic arm, sampling basket, payload, load-bearing frame, robotic arm mounting base plate, starboard fixed bracket, starboard limit block, port fixed bracket, jettisoning actuator, and port limit block, it achieves multi-functional integration. Only one hydraulic cylinder is needed to achieve the simultaneous jettisoning of the robotic arm, sampling basket, and payload.

[0022] Compared to traditional independent disposal methods, this invention greatly optimizes the hydraulic supply and electrical control strategies, and simplifies the operation process.

[0023] The present invention also has the following advantages:

[0024] (1) The limiting structure used in this invention is simple and reliable, which greatly simplifies the complexity of the submersible frame structure and mechanical device, thereby making the submersible lighter, smaller in size and lower in construction cost.

[0025] (2) The extremely simple structure and high degree of integration of the entire device of the present invention make it particularly suitable for small and lightweight submersibles with strict space and weight restrictions. Attached Figure Description

[0026] Figure 1 is a schematic diagram of the structure of the present invention.

[0027] Figure 2 shows another perspective of the present invention.

[0028] Figure 3 is an exploded view of the present invention.

[0029] Figure 4 is a front view of the present invention.

[0030] Figure 5 is a magnified view of part A in Figure 4.

[0031] Figure 6 is a diagram of the loading process of the present invention.

[0032] The components include: 1. Robotic arm; 2. Sampling basket; 3. Payload; 4. Bearing frame; 5. Robotic arm mounting base plate; 6. Starboard fixed bracket; 7. Starboard limiting block; 8. Port fixed bracket; 9. Load jettisoning actuator; 10. Port limiting block.

[0033] 401. Bearing frame ear plate;

[0034] 701. Starboard concave cylindrical support block; 702. Starboard convex cylindrical support block;

[0035] 801. Port side support lugs;

[0036] 901. Hydraulic cylinder; 902. Shaft connecting block; 903. Separator pin;

[0037] 1001. Port side concave cylindrical support block; 1002. Port side convex cylindrical support block. The best embodiment of the present invention

[0038] The specific embodiments of the present invention will now be described with reference to the accompanying drawings.

[0039] As shown in Figures 1-6, the submersible multi-load synchronous ejection device of this embodiment includes a support frame 4, an opening on the top surface of the support frame 4, an effective load 3 placed inside the support frame 4, a sampling basket 2 on the front end face of the support frame 4, a robot arm mounting base plate 5 fixed on the upper right end of the support frame 4, and a robot arm 1 fixed on the robot arm mounting base plate 5.

[0040] The port side fixed bracket 8 is installed at the left end of the load-bearing frame 4. The ballast jettisoning mechanism 9 is installed on the port side fixed bracket 8. The starboard side fixed bracket 6 is installed at the right end of the load-bearing frame 4. The starboard side fixed bracket 6 and the port side fixed bracket 8 are connected and fixed to the submersible body.

[0041] The robotic arm 1, sampling basket 2, and payload 3 are all assembled onto the load-bearing frame 4, forming an integral structure.

[0042] A load-bearing frame ear plate 401 is installed on the top surface of the left end of the load-bearing frame 4, and a port side bracket ear plate 801 is installed on the lower part of the port side fixed bracket 8. The load-bearing frame ear plate 401 and the port side bracket ear plate 801 are connected by a separating pin 903. The head of the separating pin 903 is connected to the hydraulic cylinder 901 through a shaft connecting block 902. The output end of the hydraulic cylinder 901 is fixed to the shaft connecting block 902 by fasteners.

[0043] The connection holes of the load-bearing frame lug 401 and the port side support lug 801 are kept concentric.

[0044] A port side limiting block 10 is also installed between the lower part of the port side fixed bracket 8 and the left end face of the bearing frame 4. The port side limiting block 10 is composed of a port side concave cylindrical support block 1001 and a port side convex cylindrical support block 1002. The port side convex cylindrical support block 1002 abuts against the port side concave cylindrical support block 1001.

[0045] A starboard limiting block 7 is also installed between the starboard fixed bracket 6 and the right end face of the bearing frame 4. The starboard limiting block 7 is composed of a starboard concave cylindrical support block 701 and a starboard convex cylindrical support block 702. The starboard convex cylindrical support block 702 abuts against the starboard concave cylindrical support block 701.

[0046] The port side limiting block 10 and the starboard side limiting block 7 form a self-locking structure, thereby constraining the six degrees of freedom of the bearing frame 4.

[0047] The port side fixed bracket 8 has a right-angled cross-section.

[0048] The cross-section of the starboard fixed bracket 6 is an arc-shaped structure.

[0049] The specific structure and function of the submersible multi-load synchronous jettison device described in this invention are as follows:

[0050] It mainly includes a robotic arm 1, a sampling basket 2, a payload 3, a load-bearing frame 4, a robotic arm mounting base plate 5, a starboard fixed bracket 6, a starboard limit block 7, a port fixed bracket 8, a ballast jettisoning mechanism 9, and a port limit block 10, etc.

[0051] The starboard fixed bracket 6 and the port fixed bracket 8 are connected and fixed to the submersible body.

[0052] One end of the load-bearing frame 4 is fitted with a load-bearing frame ear plate 401.

[0053] The lower part of the port side fixed bracket 8 is equipped with a port side bracket lug 801.

[0054] The starboard limiting block 7 consists of two parts: a starboard concave cylindrical support block 701 and a starboard convex cylindrical support block 702.

[0055] The port side limiting block 10 consists of two parts: a port side concave cylindrical support block 1001 and a port side convex cylindrical support block 1002.

[0056] The robotic arm 1, sampling basket 2, and payload 3 are all assembled onto the load-bearing frame 4, forming an integral structure.

[0057] The bearing frame 4 has a port-side convex cylindrical support block 1002 and a starboard-side convex cylindrical support block 702 installed at both ends. The starboard-side convex cylindrical support block 702 abuts against the starboard-side concave cylindrical support block 701, and the port-side convex cylindrical support block 1002 abuts against the port-side concave cylindrical support block 1001. A bearing frame lug 401 is installed on the port side of the bearing frame 4, and the bearing frame lug 401 and the port-side support lug 801 are concentric in their holes. Driven by the hydraulic cylinder 901, the separating pin 903 passes through the concentric holes of the bearing frame lug 401 and the port-side support lug 801. Under the action of the port-side limiting block 10 and the starboard-side limiting block 7, the bearing frame 4 triggers a self-locking limit, and the six degrees of freedom are constrained and limited under the self-locking action.

[0058] The payload ejection function of this invention is as follows:

[0059] After the release command is issued, the hydraulic cylinder 901, driven by hydraulic pressure, drives the release pin 903 to move back and gradually detach from the load-bearing frame lug 401 and the port side support lug 801.

[0060] Under the influence of gravity, the port side convex cylindrical support block 1002 separates from the port side concave cylindrical support block 1001, and the starboard side convex cylindrical support block 702 also separates after rotating around the starboard side concave cylindrical support block 701 by a certain angle.

[0061] The supporting frame 4, along with the robotic arm 1, sampling basket 2, and payload 3, fell together, detached from the submersible body, and completed the entire disposal action.

[0062] The above description is an explanation of the present invention and not a limitation thereof. The scope of the present invention is defined by the claims. Within the scope of protection of the present invention, any form of modification may be made.

Claims

1. A submersible vehicle multi-load synchronous ballast device, characterized by: Including the bearing frame (4), the top surface of the bearing frame (4) is provided with an open, the inside of the bearing frame (4) is placed with the payload (3), the front end surface of the bearing frame (4) is provided with the sampling basket (2), the upper part of the right end of the bearing frame (4) is fixed with the mechanical arm installation bottom plate (5), the mechanical arm installation bottom plate (5) is fixed with the mechanical arm (1) on it; The left end of the bearing frame (4) is fitted with the left side fixed support (8), the left side fixed support (8) is installed with the throw load actuating mechanism (9), the right end of the bearing frame (4) is installed with the right side fixed support (6), and the right side fixed support (6) and the left side fixed support (8) are connected and fixed with the submersible body.

2. A submersible vehicle multi-load synchronous unloading device according to claim 1, characterized in that: The mechanical arm (1), the sampling basket (2) and the payload (3) are all installed on the bearing frame (4) by assembling and constitute an integral structure.

3. The multi-load synchronous ballast device of a submersible vehicle according to claim 1, characterized in that: The left end top surface of the bearing frame (4) is installed with the bearing frame lug plate (401), the lower part of the left side fixed support (8) is installed with the left side support lug plate (801), the bearing frame lug plate (401) and the left side support lug plate (801) are connected through the separation pin (903) of the throw load actuating mechanism (9), the head of the separation pin (903) is connected with the oil cylinder (901) through the shaft connecting block (902), and the output end of the oil cylinder (901) is fixed with the shaft connecting block (902) through fasteners.

4. A submersible vehicle multi-load synchronous ballasting device as claimed in claim 3 wherein: The connecting hole of the bearing frame lug plate (401) and the left side support lug plate (801) is concentric with the retaining hole.

5. The multi-load synchronous ballast device of a submersible vehicle according to claim 1, characterized in that: The lower part of the left side fixed support (8) and the left end surface of the bearing frame (4) are further installed with the left side limiting block (10), the left side limiting block (10) is composed of the left side concave cylindrical support block (1001) and the left side convex cylindrical support block (1002), and the left side convex cylindrical support block (1002) abuts against the left side concave cylindrical support block (1001).

6. A submersible vehicle multi-load synchronous ballasting device as claimed in claim 1, characterized in that: The right side limiting block (7) is further installed between the right side fixed support (6) and the right end surface of the bearing frame (4), the right side limiting block (7) is composed of the right side concave cylindrical support block (701) and the right side convex cylindrical support block (702), and the right side convex cylindrical support block (702) abuts against the right side concave cylindrical support block (701).

7. A submersible vehicle multi-load synchronous ballasting device as claimed in claim 5 or 6 wherein: The left side limiting block (10) and the right side limiting block (7) are self-locked in structure, thereby restricting the six degrees of freedom of the bearing frame (4).

8. The multi-load synchronous ballast device of a submersible vehicle of claim 1, wherein: The cross section of the left side fixed support (8) is in a right angle structure.

9. The multi-load synchronous ballast device of a submersible vehicle of claim 1, wherein: The cross section of the right side fixed support (6) is in a circular arc structure.

10. A method of synchronous ballasting of a submersible vehicle multi-load synchronous ballast device, characterized by: The operation flow includes the following steps: After the throw load command is issued, the oil cylinder (901) drives the separation pin (903) to move back under the hydraulic drive and gradually separates from the bearing frame lug plate (401) and the left side support lug plate (801); Under the action of gravity, the left side convex cylindrical support block (1002) and the left side concave cylindrical support block (1001) are separated, and the right side convex cylindrical support block (702) also separates after rotating a certain angle around the right side concave cylindrical support block (701); The bearing frame (4) drops together with the mechanical arm (1), the sampling basket (2) and the payload (3), separates from the submersible body, and completes the whole throwing action.

Images