CN104908912A - Underwater robot locking mechanism - Google Patents

Abstract

The object of the present invention is to provide a locking mechanism for an underwater robot, including a fixed seat, a hydraulic cylinder, a guide rail, a spring shaft, and a clamping mechanism. The guide rail is fixed above the fixed seat, the hydraulic cylinder is installed below the fixed seat, and the inner side of the guide rail is arranged The slider that matches it, the clamping mechanism includes a clamping plate and a guide plate, the guide plate is fixed under the clamping plate, the slider and the guide plate are fixed, the end of the piston rod of the hydraulic cylinder is connected with the spring shaft, and the spring shaft is covered with a spring, A hole is arranged on the clamping plate, the upper end of the spring shaft passes through the hole of the clamping plate and is connected with the positioning plate, a protrusion is provided at the lower end of the spring shaft, one end of the spring is pressed against the clamping plate, and the other end is pressed against the protrusion of the spring shaft. The invention relies on the force generated by spring compression to lock the underwater robot, so that the rigid contact becomes elastic contact, which reduces the risk of damage to the underwater robot, and the spring compression can realize the long-term locking of the underwater robot without Other complex hydraulic locking devices.

Description

An underwater robot locking mechanism

technical field

The invention relates to a locking mechanism, in particular to an underwater locking mechanism.

Background technique

Underwater robot is an important tool for underwater operations, but due to its limited energy, it is difficult to carry out large-scale and long-term operations. Usually, it needs to be charged underwater to prolong the working time of underwater robots and improve the performance of underwater robots. work efficiency. Before charging underwater, it needs to be docked with the underwater robot and locked. Therefore, it is of great significance to design a locking mechanism for underwater robots to realize subsequent actions such as locking and charging of underwater robots.

The application number is 201310491735, and the Chinese patent titled "Mooring and Testing Device for Retrievable Underwater Cable Joints", the invented mooring device can realize the mooring of underwater cables, belongs to the field of offshore oil engineering, and has no locking function ;Application No. 201410105287, a Chinese patent named "Underwater Static Sealing Locking Mechanism", the invented locking mechanism is used to solve the sealing problem of the underwater control module shell at a depth of 3000 meters, not for locking underwater robots.

Contents of the invention

The object of the present invention is to provide a locking mechanism for an underwater robot that can complete locking of an underwater robot in an underwater environment and has a position feedback function.

The purpose of the present invention is achieved like this:

The present invention is a locking mechanism for an underwater robot, which is characterized in that it includes a fixed seat, a hydraulic cylinder, a guide rail, a spring shaft, and a clamping mechanism, the guide rail is fixed above the fixed seat, the hydraulic cylinder is installed below the fixed seat, and the inner side of the guide rail is arranged The slider that cooperates with it, the clamping mechanism includes a clamping plate and a guide plate, the guide plate is fixed under the clamping plate, the slider and the guide plate are fixed, the end of the piston rod of the hydraulic cylinder is connected with the spring shaft, and the spring shaft is covered with a spring, A hole is set on the clamping plate, the upper end of the spring shaft passes through the hole of the clamping plate and is connected with the positioning piece, the lower end of the spring shaft is provided with a protrusion, one end of the spring is pressed against the clamping plate, and the other end is pressed against the protrusion of the spring shaft, The upper and lower limit positions of the hydraulic cylinder are respectively provided with a first proximity switch and a second proximity switch.

The present invention may also include:

1. The outer side of the slider is provided with a groove structure for accumulating impurities.

2. The positioning piece is connected with the spring shaft through a screw capable of adjusting the spring preload.

3. A polyurethane board is set above the clamping board.

The advantages of the present invention are:

1. Rely on the force generated by spring compression to lock the underwater robot, so that the rigid contact becomes elastic contact, which reduces the risk of damage to the underwater robot;

2. The spring compression can realize the long-term locking of the underwater robot without other complicated hydraulic locking devices;

3. With a position feedback function, the proximity switch can send a signal in place after the locking and loosening are completed, which is convenient for monitoring.

Description of drawings

Fig. 1 is a structural representation of the present invention;

Fig. 2 is a schematic view of the spring shaft of the present invention;

Fig. 3 is a top view of the clamping plate of the present invention;

Fig. 4 is a schematic diagram of the guide rail of the present invention.

Detailed ways

The present invention is described in more detail below in conjunction with accompanying drawing example:

1-4, the present invention mainly consists of a clamping plate, a spring, a spring shaft, a polyethylene slide block, a hydraulic cylinder and a support. The support is installed on the docking device of the underwater robot, and the hydraulic cylinder and the slide rail are installed on the support. The end of the piston rod of the hydraulic cylinder is connected to the spring shaft through threads, the spring is sleeved on the spring shaft, one end leans against the spring shaft, and the other end leans against the clamping plate. The spring shaft passes through the corresponding hole on the clamping plate, and is connected with the positioning piece by bolts.

The polyurethane plate 11 is connected with the clamping plate 12 through the bolt 10, the clamping plate 12 is connected with the guide plate 7 through the bolt 8, the slider 6 made of polyethylene is connected with the guide plate 7 through the screw 5, the positioning piece 14 is connected with the spring shaft 15 The connections are made by screws 13, and the pre-tightening force of the spring can be adjusted by turning the screws 13. Slide block 6, guide plate 7, clamping plate 12 and polyurethane plate 11 constitute the clamping block of clamping mechanism, and clamping block can move up and down in guide rail 2 under the action of hydraulic cylinder. The slider 6 is provided with a groove structure for accumulating impurities and preventing seawater impurities from entering between the slider 6 and the guide rail 2 to cause damage to the kinematic pair. The guide rail 2 and the fixing base 1 are connected together on the docking device through bolts. The spring 16 is sleeved on the spring shaft 15 , one end of the spring leans against the spring shaft 15 , and the other end leans against the clamping plate 12 . The spring shaft 15 is connected with the end of the hydraulic cylinder 21 through threads. There is a stainless steel proximity switch 22 at the limit position of the up and down stroke of the hydraulic cylinder 21. The detection distance of the proximity switch 22 is 2mm, which can detect the position of the piston in the hydraulic cylinder 21. When the piston reaches the limit position, the proximity switch 22 sends out a signal in place to indicate locking Or release the action to complete.

The support is installed on the docking device of the underwater robot, and the hydraulic cylinder and the slide rail are installed on the support. The end of the piston rod of the hydraulic cylinder is connected to the spring shaft through threads, the spring is sleeved on the spring shaft, one end leans against the spring shaft, and the other end leans against the clamping plate. The spring shaft passes through the corresponding hole on the clamping plate, and is connected with the positioning piece by bolts. Both sides of the clamping plate are clamping side plates, which are connected with sliders made of polyethylene material, which can move up and down in the slide rails on both sides of the mechanism. In order to prevent impurities in the seawater environment from entering between the slider and the slide rail to cause damage, a groove structure is provided on the slider in the present invention for accumulating impurities and avoiding damage to the kinematic pair. The pre-tightening force of the spring can be adjusted through the spring shaft, the connecting seat and the spacer. The patent of the invention adopts hydraulic drive, has reliable sealing performance, is suitable for underwater working environments, can complete the locking and fixing of underwater robots, and can also be applied to other underwater equipment.

All metal parts in contact with water are made of 316L stainless steel, which can resist seawater corrosion for a long time.

The support is installed on the docking device of the underwater robot, and the hydraulic cylinder and the slide rail are installed on the support. The end of the piston rod of the hydraulic cylinder is connected to the spring shaft through threads, the spring is sleeved on the spring shaft, one end leans against the spring shaft, and the other end leans against the clamping plate. The spring shaft passes through the corresponding hole on the clamping plate, and is connected with the positioning piece by bolts.

The clamping plate can complete the locking of the underwater robot under the push of the hydraulic cylinder. The uppermost layer of the clamping plate is a polyurethane plate, which produces elastic deformation when it contacts the shell of the underwater robot to avoid damage to the shell of the underwater robot. On both sides of the plate are clamping side plates, which are connected with sliders made of polyethylene material, which can move up and down in the slide rails on both sides of the mechanism.

The clamping plate contacts the underwater robot upwards, and then the spring is compressed to generate an active force to ensure that the underwater robot is always in a clamped state.

The spring shaft is connected with the end of the piston rod of the hydraulic cylinder through threads, the spring is sleeved on the spring shaft, and the other end of the spring shaft is flexibly connected with the clamping plate to ensure that the spring can be compressed.

The slider can move up and down in the slide rails on both sides of the mechanism. In order to prevent impurities in the seawater environment from entering between the slider and the slide rail to cause damage, a groove structure is provided on the slider in this design to accumulate impurities and avoid damage to the kinematic pair.

The hydraulic cylinder is a double-acting hydraulic cylinder made of 316L stainless steel, which can work in an underwater environment. Pressure-resistant stainless steel proximity switches are installed on the bottom and top of the hydraulic cylinder to detect the stroke of the hydraulic cylinder.

The support is respectively connected with the hydraulic cylinder and the guide rail through bolts, and is fixed on the docking device of the underwater robot.

Claims (5)

1. A locking mechanism for an underwater robot is characterized in that it includes a fixed seat, a hydraulic cylinder, a guide rail, a spring shaft, and a clamping mechanism, the guide rail is fixed above the fixed seat, the hydraulic cylinder is installed below the fixed seat, and the inner side of the guide rail is arranged The slider that cooperates with it, the clamping mechanism includes a clamping plate and a guide plate, the guide plate is fixed under the clamping plate, the slider and the guide plate are fixed, the end of the piston rod of the hydraulic cylinder is connected with the spring shaft, and the spring shaft is covered with a spring, A hole is set on the clamping plate, the upper end of the spring shaft passes through the hole of the clamping plate and is connected with the positioning piece, the lower end of the spring shaft is provided with a protrusion, one end of the spring is pressed against the clamping plate, and the other end is pressed against the protrusion of the spring shaft, The upper and lower limit positions of the hydraulic cylinder are respectively provided with a first proximity switch and a second proximity switch. 2. A locking mechanism for an underwater robot according to claim 1, wherein a groove structure for accumulating impurities is arranged on the outside of the slider. 3. A locking mechanism for an underwater robot according to claim 1 or 2, characterized in that: the positioning piece and the spring shaft are connected by a screw capable of adjusting the spring preload. 4. A locking mechanism for an underwater robot according to claim 1 or 2, wherein a polyurethane plate is arranged above the clamping plate. 5. A locking mechanism for an underwater robot according to claim 3, wherein a polyurethane plate is arranged above the clamping plate.