CN111425697A - Underwater electric telescopic four-connecting-rod - Google Patents

Abstract

The invention provides an underwater electric telescopic four-bar linkage, and the application target is positioned as an underwater robot. The main function is to have the function of supporting and telescopic. It can realize two actions at the same time through a power device. When the short push rod is retracted, the electric telescopic four-bar linkage can be expanded. When the electric telescopic four-bar linkage can be retracted, the push rod retracts to reduce the length and the trip wheel retracts away from the pipe wall, which is convenient for transportation. The electric telescopic four-link is equipped with a camera to realize the observation of the underwater environment. The function of the trip wheel is to calculate the distance traveled by the underwater robot carrying the electric telescopic four-link, so as to determine the location of the detection defect. . The interface between the electric telescopic four-link and the robot is a replaceable ring, which has a simple structure and can be used with most underwater robots.

Description

An underwater electric telescopic four-bar linkage

technical field

The invention relates to an underwater actuator, in particular to an underwater actuator for assisting an underwater robot to climb a wall and walk.

Background technique

The ocean is turbulent, and the underwater robot cannot control its posture as accurately as it does on land. Especially when dealing with tasks such as accurate detection, repair, and welding, the difficulty is increased several times. In the vast ocean, there are all kinds of water pipelines. After decades of use, this kind of pipeline is bound to be corroded to a certain extent, and the inspection of the pipeline becomes particularly important. Most of the pipes are metal structures, and many detection equipment cannot work stably after entering. Therefore, there is a need for a tool that can stick to the pipe wall and stabilize the underwater robot, so as to reduce the difficulty of the underwater robot working underwater.

Invention of new content

The invention relates to an underwater electric telescopic four-link. The electric push rod adopts special sealing means to be waterproof to meet the requirements of underwater work. During the telescopic process of the electric push rod, both the rotation of the four-link and the trip wheel can be realized. expansion. There are two 4K cameras for real-time observation of underwater pipelines. The trip wheel on the electric telescopic four-link is close to the wall due to the support of the push rod, and the walking distance is recorded as the robot walks. The electric telescopic four-link has a special interface and can be installed on the underwater robot as a separate module. .

In order to solve the above-mentioned technical problems, the embodiment of the present application provides an underwater electric telescopic four-link, which is characterized in that it includes a trip wheel, a hollow tube seal, a push rod, a plug, an O-ring, a connecting rod, Hollow tube seal 2, underwater 4K camera, camera holder, camera holder, watertight cable, welding piece, push rod sleeve, linear bearing, bearing compression nut, short push rod, short rod head seal, Pin shaft, guide dustproof seal, sealing cylinder, wedge block, wedge block compression nut, fixing seat, support rod fixing collar 2, support rod connecting piece 3, vertical rod fixing seat, fixing collar 1, support rod connection Part 1, strut connecting piece, thin strut connecting piece, dustproof ring, U-shaped ring, guide ring, electric push rod sleeve, the hollow tube seal on the travel log wheel passes through the push rod The cylindrical sleeve is connected together in the form of a pair of cylindrical sleeves. A plug is installed on the sealing part of the hollow tube. The plug and the sealing part of the hollow tube are connected by threads. An O-ring is installed inside the plug. The cylindrical hole communicates with the threaded hole on the first hollow tube seal, the push rod is a hollow tube structure, and the connecting rod and the second hollow tube seal are connected by the shaft hole matching method; the push rod is installed with two water Under the 4K camera, the underwater 4K camera is fixed with the camera holder, the camera holder is fixed with the camera holder, the two underwater 4K cameras are arranged symmetrically on the left and right, and the two are facing an angle of 60°. There is a watertight cable at the tail of the lower 4K camera, and the two watertight cables are vulcanized into a watertight cable with double the number of cores at the convergence point; the two ends of the hollow push rod and the connecting rod are respectively installed with welding parts and welding parts. The push rod and the connecting rod are welded together in the form of a cylindrical sleeve pair. The push rod and the push rod sleeve are connected together in the form of a cylindrical sleeve pair and can move up and down. A linear bearing is installed in the middle of the two. The bearing compression nut ensures the upper and lower limit of the linear bearing; the short push rod is installed with the shaft hole of the short rod head seal, and the pin shaft is used to limit the position. The short rod head seal has two sealing grooves to guide The dust-proof seal is concentric with the short push rod, and the guide dust-proof seal is provided with a plurality of sealing grooves and guide key grooves. The sleeve shaft hole is matched, the upper end face of the wedge block is in close contact with the tail end face of the sealing cylinder, the sealing cylinder and the wedge block compression nut are threadedly installed, and the wedge block is squeezed by tightening the wedge block compression nut; the end of the push rod sleeve It is fixed together with the fixed seat through the shaft hole, and the pin shaft is used to limit the position. The fixed seat and the outer sleeve are fixed together through the shaft hole, and the outer sleeve is provided with a sealing groove, a wire threading groove and a limit groove; the The fixed seat is hinged with the supporting rod fixing collar 2, the supporting rod connecting piece 3 is hinged with the supporting rod fixing collar 2, the vertical rod fixing seat is hinged with the fixing collar, and the short rod head seal is hinged with the supporting rod connecting piece. The strut connecting piece is hinged with the thin strut connecting piece, and the push rod sleeve and the push rod are in linear sliding contact.

As a preferred embodiment of this solution, the described underwater electric telescopic four-bar linkage is characterized in that, once the hollow tube seal is matched with the push rod, the two are fixed together by welding, The thread of the plug is M6, the threaded hole of the hollow tube seal is M6, and the groove opened inside the plug is used to place the O-ring and can be replaced.

As a preferred embodiment of this solution, the underwater electric telescopic four-bar linkage is characterized in that the included angle of the two underwater 4K cameras is 60°, and the opening angle of the lens is 110°. The combination can provide a visual range of 120°-150°, which can meet the underwater pressure resistance of about 300 meters.

As a preferred embodiment of this solution, the described underwater electric telescopic four-bar linkage is characterized in that the push rod and the connecting rod are both sealed structures, and the sealing performance can be tested by taking out the plug;

As a preferred embodiment of this solution, the underwater electric telescopic four-bar linkage is characterized in that the inner groove of the guide dustproof seal is used for installing dustproof rings, U-shaped rings, guide rings, O-ring, the wedge-shaped block is in the shape of a conical surface at one end, and the conical surface is distributed with three openings at equal distances along the axial direction.

As a preferred embodiment of this solution, the described underwater electric telescopic four-bar linkage is characterized in that the push rod and the push rod sleeve are in a sliding manner, and the thin strut connecting piece and the push rod are in a sliding manner. When the short push rod and the electric push rod sleeve slide, the push rod and the push rod sleeve slide at the same time.

One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages:

Small in structure and reasonable in arrangement, it can be installed on most robots as a single module. A spring is installed on the ride wheel, which can control the angle between the two outriggers and ensure that both wheels can be attached to the pipe at the same time. On the wall, there are two underwater 4K cameras to observe the underwater environment in real time. The four-bar linkage can not only meet the function of supporting the log wheel, but also facilitate recovery. The overall length is shortened for easy transportation during recovery.

Description of drawings

In order to more clearly illustrate the new embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the accompanying drawings required in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are only some new embodiments of the present invention, and for those of ordinary skill in the art, other drawings can also be obtained from these drawings without any creative effort.

FIG. 1 is a schematic diagram of a stretched structure of an embodiment of the present application.

FIG. 2 is a schematic diagram of a shrinking structure of an example of the present application.

FIG. 3 is a schematic diagram of the three-dimensional structure of the hollow connecting rod and the push rod seal according to the example of the present application.

FIG. 4 is a schematic diagram of an arrangement of an underwater 4K camera according to an example of the present application.

FIG. 5 is a schematic structural diagram of the sealing method of the electric push rod of the example of the present application.

FIG. 6 is a schematic diagram of a hinged manner of an electric push rod and a connecting rod in an example of the present application.

In Fig. 1-Fig. 6, 1. Including trip wheel, 2. Hollow tube seal 1, 3. Push rod, 4. Plug, 5. O-ring, 6. Connecting rod, 7. Hollow tube seal 2 , 8. Underwater 4K camera, 9. Support rod camera mount, 10. Camera mount, 11. Watertight cable, 12. Hollow tube sealing weldment, 13. Push rod sleeve, 14. Linear bearing, 15. Bearing compression nut, 16. Short push rod, 17. Short rod head seal, 18. Pin shaft, 19. Guide dustproof seal, 20. Seal cylinder, 21. Wedge block, 22. Wedge block compression nut , 23. Fixing seat, 24. Support rod fixing collar II, 25 Support rod connecting piece 3., 26. Pole fixing seat, 27. Fixing collar 1, 28. Support rod connecting piece 1, 29. Support rod connection Parts, 30. Thin strut connecting piece, 31. Dust ring, 32. U-ring, 33. Guide ring, 34. Electric push rod sleeve

Detailed ways

The invention provides an underwater electric telescopic four-bar linkage, the electric push rod is electrically driven to control the telescopic movement, and the electric push rod is a movable part in the four-bar linkage mechanism, which drives the whole device to move. There are two kinds of motions caused by the electric push rod telescoping, one is the telescopic motion of the push rod, and the other is the rotary motion of the push rod along the fixed point.

As shown in Fig. 1-Fig. 6, an underwater electric telescopic four-link is characterized in that, an underwater electric telescopic four-link is characterized in that it comprises a trip wheel 1, a hollow tube seal 1, 2, Push rod 3, plug 4, O-ring 5, connecting rod 6, hollow tube seal 2 7, underwater 4K camera 8, camera mount 9, camera mount 10, watertight cable 11, welding piece 12, pusher Rod sleeve 13, linear bearing 14, bearing compression nut 15, short push rod 16, short rod head seal 17, pin 18, guide dust seal 19, sealing cylinder 20, wedge block 21, wedge block press Tightening nut 22, fixing seat 23, support rod fixing collar two 24, support rod connecting piece 3 25, vertical rod fixing seat 26, fixing collar one 27, support rod connecting piece one 28, support rod connecting piece 29, thin support Rod connecting piece 30, dustproof ring 31, U-shaped ring 32, guide ring 33, electric push rod sleeve 34, the hollow tube seal 1 2 on the described trip wheel 1 and the push rod 3 pass through the cylindrical sleeve The tubes are connected together in the form of a pair of cylinders, a plug 4 is installed on the hollow tube seal 1 2, the plug 4 is connected with the hollow tube seal 1 2 by threads, an O-ring 5 is installed inside the plug, and the hollow tube seal 1 2. There is a cylindrical hole inside, which is connected with the threaded hole on the hollow tube seal 12, the push rod 3 is a hollow tube structure, and the connecting rod 6 and the hollow tube seal 27 are connected by shaft hole matching; the said Two underwater 4K cameras 8 are installed on the push rod 3. The underwater 4K cameras 8 are fixed together with the camera fixing frame 9, and the camera fixing frame 9 is fixed with the camera fixing base 10. The two underwater 4K cameras 8 are arranged in the left and right directions. Symmetrically arranged, the two are facing an included angle of 60°, and each of the two underwater 4K cameras 8 has a watertight cable 11 at the tail, and the two watertight cables 11 are vulcanized into a watertight cable with double the number of cores at the convergence point; the The two ends of the hollow push rod 3 and the connecting rod 6 are respectively installed with welding parts 12. The welding parts 12 and the push rod 3 and the connecting rod 6 are welded together in the form of a cylindrical sleeve pair, and the push rod 3 and the push rod sleeve 13 are welded together. They are connected together in the form of a cylindrical sleeve pair and can move up and down. A linear bearing 14 is installed in the middle of the two, and the upper and lower limit of the linear bearing 14 is ensured by the bearing compression nut 15; the short push rod 16 and the short rod are The head seal 17 is installed with the shaft hole, and the pin shaft 18 is used to limit the position. The short rod head seal 17 has two sealing grooves. The guide dust seal 19 is concentric with the short push rod 16 to guide the dust seal. There are a plurality of sealing grooves and guide key grooves on the structure of the part 19. The guide dustproof seal 19 and the sealing cylinder 20 are fastened by threads. At the same time, the sealing cylinder 20 is also matched with the shaft hole of the push rod sleeve 13. The end face is in close contact with the end face of the sealing cylinder 20, the sealing cylinder 20 is threadedly installed with the wedge-shaped block compression nut 22, and the wedge-shaped block 21 is squeezed by tightening the wedge-shaped block compression nut 22; the end of the push rod sleeve 13 is fixed to the The seat 23 is fixed together through the shaft hole, and the pin shaft 18 is used to limit the position. The fixed seat 23 and the outer sleeve are fixed together through the shaft hole. Sealing groove, wire threading groove and limit groove; the said fixing seat 23 is hinged with the second supporting rod fixing collar 24, the supporting rod connecting piece 3 25 is hinged with the second supporting rod fixing collar 24, and the vertical rod fixing seat 26 is hinged with the second fixing collar 24 of the supporting rod The first ring 27 is hinged, the short rod head seal 17 is hinged with the support rod connecting piece 1 28, the support rod connecting piece 29 is hinged with the thin support rod connecting piece 30, and the push rod sleeve 13 and the push rod 3 are in linear sliding contact. Among them, in practical application, the hollow tube seal-2 and the push rod 3 are fixed together by welding after the cooperation is completed, the thread of the plug 4 is M6, and the threaded hole of the hollow tube seal-2 is M6, the groove opened in the plug 4 is used to place the O-ring 5 and can be replaced. The function of the hollow tube is to reduce the overall mass, provide buoyancy, and meet the neutral buoyancy requirements of the underwater electric telescopic four-link.

Among them, in practical application, the included angle of the two underwater 4K cameras 8 is 60°, and the lens opening angle is 110°. The combination of the two can provide a visual range of 120°-150°, which meets the requirements of underwater durability. Press about 300 meters.

Wherein, in practical application, the push rod 3 and the connecting rod 6 are both sealed structures, and the tightness can be detected by replacing the plug for the air nozzle;

Among them, in practical application, the inner groove of the guide dustproof seal 19 is used to install the dustproof ring 31, the U-shaped ring 32, the guide ring 33 and the O-ring 5, and the shape of the wedge-shaped block 21 is that one end is a conical surface , and the conical surface distributes three openings at equal intervals along the axial direction, the wedge-shaped block compression nut 22 is structurally provided with inclined surfaces with the same inclination angle, and the conical surfaces coincide with the inclined surfaces. The function of the wedge block 21 and the wedge block pressing nut 22 is to firmly fix the guide dust seal 19 on the electric push rod sleeve with a smooth cylindrical surface.

Wherein, in practical application, the push rod 3 and the push rod sleeve 13 are in a sliding manner, the thin support rod connecting piece 30 and the push rod 3 are fixed, and the short push rod 16 and the electric push rod sleeve 34 are fixed. When sliding therebetween, the push rod 16 and the push rod sleeve 13 slide simultaneously.

Claims (6)

1. An underwater electric telescopic four-bar linkage, characterized in that it comprises a trip wheel (1), a hollow tube seal one (2), a push rod (3), a plug (4), an O-ring (5). ), connecting rod (6), hollow tube seal two (7), underwater 4K camera (8), camera mount (9), camera mount (10), watertight cable (11), weldment (12) ), push rod sleeve (13), linear bearing (14), bearing compression nut (15), short push rod (16), short rod head seal (17), pin shaft (18), guide dustproof Seal (19), sealing cylinder (20), wedge block (21), wedge block compression nut (22), fixing seat (23), support rod fixing collar two (24), support rod connecting piece three (25) ), a vertical rod fixing seat (26), a fixing collar (27), a supporting rod connecting piece (28), a supporting rod connecting piece (29), a thin supporting rod connecting piece (30), a dust ring (31) , U-shaped ring (32), guide ring (33), electric push rod sleeve (34), the hollow tube seal part one (2) and push rod (3) on the range wheel (1) Connected together in the form of a cylindrical sleeve pair, a plug (4) is installed on the hollow tube seal 1 (2), the plug (4) and the hollow tube seal 1 (2) are connected by threads, and the plug is installed inside There is an O-ring (5), the hollow tube seal part one (2) is provided with a cylindrical hole, which is connected to the threaded hole on the hollow tube seal part one (2), and the push rod (3) is a hollow tube structure, which is connected to The rod (6) is connected with the hollow tube seal part 2 (7) by means of shaft hole matching; two underwater 4K cameras (8) are installed on the push rod (3), and the underwater 4K camera (8) is connected to the camera. The fixing frame (9) is fixed together, the camera fixing frame (9) and the camera fixing seat (10) are fixed together, the two underwater 4K cameras (8) are arranged symmetrically on the left and right, and the two are oriented at an included angle of 60°, and the two Each of the underwater 4K cameras (8) has a watertight cable (11) at the tail, and the two watertight cables (11) are vulcanized into a watertight cable with double the number of cores at the convergence point; the hollow push rod (3) Welding pieces (12) are respectively installed on both ends of the connecting rod (6), the welding piece (12), the push rod (3) and the connecting rod (6) are welded together in the form of a cylindrical sleeve pair, and the push rod (3) is welded together. ) and the push rod sleeve (13) are connected together in the form of a cylindrical sleeve pair, and can move up and down. A linear bearing (14) is installed between the two, and the linear bearing (14) is ensured by the bearing compression nut (15). ) up and down limit; the short push rod (16) is installed in cooperation with the shaft hole of the short rod head seal (17), and the pin shaft (18) is used to limit the position, and the short rod head seal (17) has two The guide dust seal (19) is concentric with the short push rod (16), and the guide dust seal (19) has a plurality of sealing grooves and guide keyways on the structure, and the guide dust seal (19) ) and the sealing cylinder (20) are fastened by threads, and at the same time the sealing cylinder (20) is also connected to the shaft of the push rod sleeve (13). The upper end face of the wedge block (21) is in close contact with the rear end face of the sealing cylinder (20), the sealing cylinder (20) and the wedge block compression nut (22) are screwed together to install, and the wedge block compression nut (22) is tightened by tightening the wedge block compression nut (22). Squeeze the wedge block (21); the end of the push rod sleeve (13) and the fixing seat (23) are fixed together through the shaft hole, and the pin shaft (18) is used to limit the position, and the fixing seat (23) and the outer casing The cylinders are fixed together through the shaft hole, and the outer sleeve is provided with a sealing groove, a wire threading groove and a limit groove; the fixing seat (23) is hinged with the supporting rod fixing collar two (24), and the supporting rod connecting piece The third (25) is hinged with the support rod fixing collar two (24), the vertical rod fixing seat (26) is hinged with the fixing collar one (27), and the short rod head seal (17) is hinged with the support rod connecting piece (28) ) hinged, the strut connecting piece (29) is hinged with the thin strut connecting piece (30), and the push rod sleeve (13) and the push rod (3) are in linear sliding contact. 2. A kind of underwater electric telescopic four-bar linkage according to claim 1, is characterized in that, after described hollow tube seal 1 (2) and push rod (3) are matched with each other, the two are welded together by welding. To be fixed together, the thread of the plug (4) is M6, the threaded hole of the first (2) of the hollow tube seal is M6, and the groove opened in the plug (4) is used to place the O-ring (5). 3. A kind of underwater electric telescopic four-bar linkage according to claim 1, the included angle of the two underwater 4K cameras (8) is 60°, and the lens opening angle is 110°, and the combination of the two can provide The visible range of 120°-150° meets the underwater pressure resistance of about 300 meters. 4. An underwater electric telescopic four-bar linkage according to claim 1, characterized in that, the push rod (3) and the connecting rod (6) are both sealed structures, and the plug (4) can be removed by ) to test for tightness. 5. An underwater electric telescopic four-bar linkage according to claim 1, characterized in that the inner groove of the guide dust-proof seal (19) is used for installing a dust-proof ring (31), a U-shaped ring (32), the guide ring (33), the O-ring (5), the wedge-shaped block (21) is in the shape of a conical surface at one end, and the conical surface is distributed with three openings at equal intervals along the axial direction, and the wedge-shaped block is pressed against the nut (22) The structure has a slope with the same inclination angle, and the conical surface coincides with the slope. 6. An underwater electric telescopic four-bar linkage according to claim 1, wherein the push rod (3) and the push rod sleeve (13) are in a sliding manner, and the thin strut connecting piece (30) is fixed with the push rod (3), and when the short push rod (16) and the electric push rod sleeve (34) slide between the push rod (16) and the push rod sleeve (13), the push rod (16) and the push rod sleeve (13) slide simultaneously .

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