Underwater robot multi-mode jettison device

Abstract

The invention relates to an underwater robot multi-mode jettison device, which is mainly composed of an electromagnetic driving mechanism, a motor driving mechanism, a pure mechanical timing driving mechanism and a releasing mechanism. Three kinds of driving mechanisms respectively act on the releasing mechanism to restrict the releasing mechanism to carry out the throwing action. Each drive mechanism is composed of a drive element and its corresponding actuator. The actuator reliably releases the ballast when the ballast needs to be released and reliably fixes the ballast when the ballast does not need to be released through the action of the actuator on the release mechanism. The device realizes the convenient installation of the ballast through the release mechanism, the automatic limitof the ballast after the installation of the ballast, and the guidance of the ballast in the process of the jettison. The device not only can reliably release the ballast, but also can reliably fix the ballast when the equipment works normally. It is especially suitable for autonomous underwater vehicle, underwater construction machinery and other underwater equipment.

Description

technical field [0001] The invention relates to the field of underwater robots, in particular to a multi-mode load dumping device for an underwater robot. Background technique [0002] Underwater operating equipment such as autonomous underwater robots work in a complex marine environment, not only threatened by the surrounding environment, but also may malfunction due to various emergencies. When the autonomous underwater robot diagnoses a limit fault or its fault-tolerant control strategy fails, abandoning the operation task and throwing the load to float is the only way for the autonomous underwater robot to save itself. Therefore, the dumping device is a necessary equipment in the safety guarantee system of underwater operating equipment such as autonomous underwater robots. [0003] Existing mechanical underwater dumping devices, such as the release device designed by the patent document No. 201020214507.4 titled "A Deep Sea Ballast Release Device", and the patent No. ...

AI Technical Summary

Problems solved by technology

[0003] Existing mechanical underwater dumping devices, such as the release device designed by the patent document No. 201020214507.4 titled "A Deep Sea Ballast Release Device", and the patent No. 201210404590.5 titled "An Underwater Electromechanical Release Device" The dumping mechanism designed in the patent document of 201410023284.X and the release mechanism designed in the patent document named "An Emergency Release Device for Underwater Robot", etc., all have only one driving method, although the reliable ballasting can be completed. release, but did not mention the problem of fixing or guiding the ballast. At the same time, the increase in the weight of the ballast will inevitably increase the friction between the contact surfaces, which will greatly increase the power required for the release action, thus requiring more High-power motors or electromagnets increase the weight and volume of the equipment

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