Hydraulic driving type underwater emergency release device

Abstract

The invention aims to provide a hydraulic driving type underwater emergency release device, wherein hydraulic oil or water is taken as a driving medium. The hydraulic driving type underwater emergency release device comprises a mechanical body, a signal cable release part and a power cable release part. The mechanical body is used for providing a connecting platform between an underwater aircraft and an underwater manipulator. When the underwater aircraft works normally, the device can ensure safe and reliable connection between the aircraft and the underwater manipulator. When serious failures of the underwater aircraft and the underwater manipulator occur, for example serious winding or blocking failure of each driving joint of the manipulator occurs, or an actuator at the tail end of the manipulator is wound by an underwater entanglement, conventional fault-tolerant control cannot meet the working requirement, and load rejection is necessary to ensure the safety of the underwater aircraft. A release command is given by a control system, and disengaging between a hydraulic manipulator and the underwater aircraft is quickly realized so as to ensure the safety of the aircraft. The hydraulic driving type underwater emergency release device can realize underwater release of a hydraulic manipulator body, power cables and signal cables.

Description

technical field [0001] The invention relates to an underwater release device, in particular to an underwater vehicle and a release device for mechanical joints. Background technique [0002] The underwater vehicle-manipulator system is currently the only equipment that can enter the deep sea for marine environment, resource detection, and underwater operations. The system operates in a complex and unknown marine environment. Serious failures such as entanglement and jamming may occur in the joints of the manipulator, and the end effector of the manipulator may be entangled by underwater windings and other failures. At this time, the traditional fault-tolerant control can no longer ensure the safety of the system, and quickly detaching the manipulator from the aircraft is an important way to ensure the safety of the aircraft itself. Therefore, the underwater emergency release device is one of the important devices in the underwater vehicle-manipulator system to ensure the sa...

AI Technical Summary

Problems solved by technology

The system operates in a complex and unknown marine environment. Serious failures such as entanglement and jamming may occur in the joints of the manipulator, and the end effector of the manipulator may be entangled by underwater entanglements.

At this time, the traditional fault-tolerant control can no longer ensure the safety of the system, and quickly detaching the manipulator from the aircraft is an important way to ensure the safety of the aircraft itself.

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