CN102522658A - Electrical-connecting device for underwater automatic machine - Google Patents
Electrical-connecting device for underwater automatic machine Download PDFInfo
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- CN102522658A CN102522658A CN201110327506XA CN201110327506A CN102522658A CN 102522658 A CN102522658 A CN 102522658A CN 201110327506X A CN201110327506X A CN 201110327506XA CN 201110327506 A CN201110327506 A CN 201110327506A CN 102522658 A CN102522658 A CN 102522658A
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Abstract
The invention relates to an electrical-connecting device for an underwater automatic machine, which comprises an active abutting piece and a passive abutting piece; the active abutting piece comprises a clamping-jaw lead screw, clamping-jaw mechanisms, a clamping-jaw driving mechanism, a sealing end cover, an active abutting body, an n+4-core watertight connector, an n-core penetrating piece, a contact-point seat, a contact-point mechanism, a contact-point driving mechanism and a positioning cone, wherein the clamping-jaw mechanisms are circumferentially and uniformly distributed and fixed on the lateral wall of the active abutting body, the clamping-jaw driving mechanism is connected with the clamping-jaw lead screw and is used for driving the clamping-jaw mechanisms to realize the reliable abutting and separation of the active abutting piece and the passive abutting piece, and the contact-point driving mechanism is used for driving the contact-point seat and the contact-point mechanism to move and is matched with a spring in the contact-point mechanism, so that extruding contact is formed between a contact point and a plug to realize large-current transmission; the passive abutting piece comprises the plug, an inserting rod, a passive abutting body with a cavity, a plug seat and an n-core watertight connector; and a sealing ring is respectively arranged at the mutually-connecting part of parts contacted with water. The electrical-connecting device for the underwater automatic machine has the advantages of good sealing effect, high mechanical-connecting strength and strong connecting and conducting capability, can be used for large-power electricity transmission and is suitable for being used in deep water.
Description
Technical field
What the present invention relates to is a kind of mechanical splice and big electric current plug assembly that is used under water, and particularly a kind of automatic realization submarine mechanical and electric butt joint and the device that separates belong to the underwater construction machinery field in the ocean engineering.
Background technology
In recent years; The development of Underwater Engineering field rapidly; Electromechanical equipment development that engineering aspects such as maintenance, submarine observation net construction maintenance are installed under water under water machinery, be electrically connected with separating and all proposed very high requirement, the development of especially extraordinary underwater robot presses for and can realize mechanical and the electric device that is dynamically connected certainly under water.
At present the overwhelming majority under water electromechanical equipments machinery and to be electrically connected all can only be artificial realization the under the dry type environment, so environmental adaptation is very poor, and the shortage flexibility.And for some extraordinary underwater robots, for example modularized self-reorganization robot under water then must utilize submarine mechanical and electric automatic butt isolation technics to realize its predetermined function.Along with the progressively in-depth of ocean development, the construction of China's submarine observation net is also accelerated day by day in recent years.In the building process of submarine observation net, need carry out machinery and be electrically connected in each observation station; Usually utilize at present the wet plug plug connector of manipulator clamping of underwater robot to carry out the cable connection of observation station in the world under water; But wet under water plug connector generally all needs tens kilograms contact engaging and separating force, and enough accurate outside location condition also will be arranged during operation, and this operating type is very high to the requirement of underwater robot; And speed is slow, and efficient is low.Therefore research and develop a kind of submarine mechanical and electric automatic butt separator and seem very necessary.
Retrieval through to prior art is found; Publication number CN 1585205A, name are called People's Republic of China's patent of " automaton arrangements of electric connection under water "; This patent relates to a kind of automatic submarine mechanical and electric docking facilities, and its mechanical splice claw is in main joint face radial arrangement, and not only mechanical guiding scope is little; And the mechanical splice fastening force is little, thus connect unreliable; What it was electrically connected employing is the end face flat seal, and sealing effectiveness is relatively poor, is not suitable in deep water, using; And, be easy to generate the space between electric shock and the plug because its conducting contact is the end face contact, be not suitable for the transmission of big electric current.
Summary of the invention
The objective of the invention is to overcome the deficiency of prior art; The modular multi-function intelligence underwater sampling that carries in a kind of robot under water device is provided; It can make operating personnel on the lash ship of the water surface, realize the sampling of various ways under water easily through operating desk or according to the program of self setting; And sampling process monitored in real time; Thereby when improving sampling efficiency greatly, reduced dependence, had laid a good foundation for accomplishing under water sampling work in high quality to working mother boat.
The objective of the invention is to overcome the deficiency of prior art; A kind of novel automation under water and electric butt joint separator are provided, and it can be accomplished machinery under water reliably and be electrically connected, and mechanical connection intensity is good; It is strong to be electrically connected conductive capability; The high-power transmission of electricity of ability, electric insulating quality is good, uses the depth of water also bigger.For the development of specialized robot and the practical applications such as establishment of submarine observation net lay a good foundation under water.
For realizing above purpose, the present invention solves its technical problem through following technical scheme:
A kind of arrangements of electric connection of automaton under water; Comprise initiatively interfacing part and passive interfacing part, it is characterized in that: said active interfacing part comprises claw screw mandrel, click-on mechanism, claw driving mechanism, end cover, active butt joint body, n+4 core underwater electrical connector, n core penetration piece, contact shoe, contact mechanism, contact driving mechanism and locating cone; Said end cover is fixed in the initiatively rear end of butt joint body of shelly; Form sealed space; Said click-on mechanism circumferentially is fixed in uniform way on the sidewall of butt joint body initiatively and with the claw screw mandrel and is connected; Said contact shoe and contact mechanism fixed thereon are arranged at outside the antetheca of active butt joint body, and said n+4 core underwater electrical connector is fixed on the end cover, and the n core penetration piece of butt joint body inner space is connected with contact mechanism through placing initiatively; Said claw driving mechanism and contact driving mechanism are arranged in the active butt joint body volume inside; This claw driving mechanism connects claw screw mandrel and drives butt joint that click-on mechanism realizes initiatively interfacing part and passive interfacing part and separate, and this contact driving mechanism connecting terminal seat and contact-actuating seat and contact mechanism move forward and backward, and said locating cone is fixed on the antetheca of active butt joint body; Said passive interfacing part comprises plug, inserted link, has the passive butt joint body of cavity, connector assembly and n core underwater electrical connector; Said connector assembly is fixed in the front end of passive butt joint body; Said inserted link runs through this connector assembly; Said plug is connected in the front end of inserted link, and said n core underwater electrical connector is fixed in the rear end of passive butt joint body and is electrically connected with inserted link.
The arrangements of electric connection of automaton under water of the present invention, its contact mechanism comprises spring and contact head, and this contact head is electrically connected with n core penetration piece and n+4 core underwater electrical connector, and this spring is built in the said contact mechanism and compresses with this contact head and contacts; Said claw driving mechanism comprises claw sprocket wheel and claw motor, and this claw motor is through chain Connection Card dog chain wheel, and this claw sprocket wheel is fixed in an end of said claw screw mandrel; Said click-on mechanism comprises the claw that has pin, has the fixing claw side plate of gathering sill and is rotatably connected in the Jack catch nuts on the claw screw mandrel, and this Jack catch nuts is connected in an end of claw, and the pin of this claw slides in the gathering sill of claw side plate; Said contact driving mechanism comprises contact motor seat board, contact motor and contact shoe screw mandrel; Said contact shoe screw mandrel is connected on the said contact shoe; Said contact motor is fixed in through the contact motor seat board on the inwall of said active butt joint body, and this contact motor connecting terminal seat screw mandrel and promotion contact shoe move forward and backward; Fill up vulcanizate in the passive butt joint body cavity between said n core plug seat and the n core underwater electrical connector; Be provided with sealing ring with the junction of passive butt joint body respectively with the junction of active butt joint body and at said connector assembly and n core underwater electrical connector respectively at said claw screw mandrel, end cover, n+4 core underwater electrical connector, contact shoe, contact mechanism and contact driving mechanism; Be filled with oil in said end cover and the seal cavity inside that the active butt joint body forms; The quantity of said locating cone is 3, and it is evenly distributed on the interface of butt joint body initiatively, and the interface of said passive butt joint body is provided with 3 positions and this locating cone corresponding positioning hole and fit mutually with it.
The present invention compares prior art and has the following advantages: mechanical claw of the present invention mechanism arranges that in active butt joint body external circumferential mechanical guiding scope is big, and the mechanical splice fastening force is big, so connect reliable; Through the location hole on three locating cones on the active butt joint body and the Passive Positioning body mutually fit realize the accurate location between contact and the plug, good positioning effect; Sealing ring is adopted in each member junction of device, and sealing effectiveness is better, makes the present invention be adapted at using in the deep water; Realize that through contact driving mechanism and built-in spring extruding contact between conducting contact head and the plug, do not have the space between contact head and the plug, it is strong to be electrically connected conductive capability, and electric insulating quality is good, the high-power transmission of electricity of ability.
Description of drawings
Fig. 1 is a general structure sketch map of the present invention.
Fig. 2 is the initiatively view of interfacing part interface of the present invention.
Fig. 3 is the view of the passive interfacing part interface of the present invention.
Embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated, present embodiment is to have provided detailed execution mode and concrete operating process under the prerequisite with technical scheme of the present invention, but protection scope of the present invention is not limited only to following embodiment.
Like Fig. 1, Fig. 2 and shown in Figure 3, the said automaton under water of present embodiment arrangements of electric connection comprises initiatively interfacing part and passive interfacing part.Said active interfacing part comprises claw screw mandrel 1, click-on mechanism 9, claw driving mechanism, end cover 3, active butt joint body 10, n+4 core underwater electrical connector 6, n core penetration piece 7, contact shoe 12, contact mechanism 13, contact driving mechanism and locating cone 14; Said passive interfacing part comprises plug 15, inserted link 16, has the passive butt joint body 17 of cavity, connector assembly 18 and n core underwater electrical connector 19; Wherein: except two drive motors 5 and 8 and contact motor seat board 4, other parts of device layout that is centrosymmetric basically.
In said active interfacing part, said end cover 3 is fixed in the initiatively rear end of butt joint body 10 of shelly, thereby forms sealed space.Said click-on mechanism 9 quantity are provided with some (in the present embodiment being four), and it circumferentially is fixed on the sidewall of active butt joint body 10 in uniform way, and is connected with a claw screw mandrel 1 respectively; This click-on mechanism 9 comprises the claw that has pin, has the fixing claw side plate of gathering sill and is rotatably connected in the Jack catch nuts on the claw screw mandrel 1, and this Jack catch nuts is connected in an end of claw, and the pin of this claw slides in the gathering sill of claw side plate.Said claw driving mechanism is arranged in the seal cavity of shelly active butt joint body 10 inside, and it comprises claw sprocket wheel 2 and claw motor 8; This claw motor 8 is through chain Connection Card dog chain wheel 2, and this claw sprocket wheel 2 is fixedly connected on an end of said claw screw mandrel 1.The claw motor 8 of this claw driving mechanism is through claw sprocket wheel 2, chain and 1 transmission of claw screw mandrel; Make Jack catch nuts convert the rotation of claw screw mandrel 1 into rectilinear motion; Again through sliding in the gathering sill of the pin on the claw on the claw side plate; Make claw tighten up and open according to the path of setting, thus the butt joint that realizes initiatively interfacing part and passive interfacing part with separate.Said contact shoe 12 is arranged at outside the antetheca of active butt joint body 10 with contact mechanism 13, and this contact mechanism 13 is fixed on the contact shoe 12.Said contact mechanism 13 comprises spring, socket contact, socket head and contact head; This contact head is electrically connected with n core penetration piece 7 and n+4 core underwater electrical connector 6 through internal wiring; This spring is built in the said contact mechanism 13, and compresses with this contact head and to contact.Said n+4 core underwater electrical connector 6 is fixed on the end cover 3, and the n core penetration piece 7 in butt joint body 10 inner sealing spaces is electrically connected with contact mechanism 13 through placing initiatively.Said contact driving mechanism is arranged in the seal cavity of active butt joint body 10 inside, and this contact driving mechanism connecting terminal seat 12 and contact-actuating seat 12 move forward and backward with contact mechanism 13; Said contact driving mechanism comprises contact motor seat board 4, contact motor 5 and contact shoe screw mandrel 11; Said contact shoe screw mandrel 11 is connected on the said contact shoe 12; Said contact motor 5 is fixed on the inwall of said active butt joint body 10 through contact motor seat board 4, and these contact motor 5 connecting terminal seat screw mandrels 11 and promotion contact shoe 12 move forward and backward with contact mechanism 13.The quantity of said locating cone 14 is 3, and it is fixed on the antetheca of active butt joint body 10, and is evenly distributed on the interface of active butt joint body 10.For opposing hydraulic pressure when the depth of water is big, can also be filled with oil in said end cover 3 and the seal cavity inside that active butt joint body 10 forms.
In said passive interfacing part; Said connector assembly 18 is fixed in the front end of passive butt joint body 17; Said inserted link 16 runs through this connector assembly 18, and said plug 15 is connected in the front end of inserted link 16, and said n core underwater electrical connector 19 is fixed in the rear end of passive butt joint body 17 and is electrically connected with inserted link 16.Fill up vulcanizate in the cavity of the passive butt joint body 17 between said connector assembly 18 and the n core underwater electrical connector 19, to guarantee insulation and sealing.The interface of said passive butt joint body 17 is provided with locating cone 14 corresponding positioning hole on 3 positions and the active butt joint body 10; This location hole and locating cone 14 be fit mutually; With the circumferential location on this face that achieves a butt joint, and then realize the accurate location between contact head and plug.
For the arrangements of electric connection of automaton under water according to the invention can be used in deep water; Improve the reliability of device; All parts that contact with water all are provided with the O RunddichtringO interconnecting the place that connects, that is, said claw screw mandrel 1, end cover 3, n+4 core underwater electrical connector 6, contact shoe 12, contact mechanism 13 and contact driving mechanism respectively with the junction of active butt joint body 10; And said connector assembly 18 and n core underwater electrical connector 19 respectively with the junction of passive butt joint body 17; Be provided with the O RunddichtringO, good sealing effect can use in deep water.
When the arrangements of electric connection of automaton under water of the present invention is worked, at first make each part be in the state of preparatory butt joint, that is: four claws open, and contact shoe 12 is recovered to the initiatively bottom of butt joint body 10 interfaces, bottom; Next makes two interfaces near arriving suitable position; Give the claw motor 8 power supplies through n+4 core underwater electrical connector 6, make it to be rotated in the forward, carry out transmission through sprocket wheel-chain; Driving four claws tightens up synchronously; Guarantee that initiatively butt joint body 10 can dock with passive butt joint body 17 safely and effectively, make the location hole fit mutually on three locating cones 14 and the passive butt joint body 17 on the butt joint body 10 initiatively simultaneously, realization is circumferentially located.After two interfaces are close to; Give the contact motor 5 power supplies through n+4 core underwater electrical connector 6; Make it rotation, carry out transmission through contact shoe screw mandrel 11, drive contact shoe 12 and contact mechanism 13 axially do among a small circle rectilinear motion to interface near; Fit on interface up to contact shoe 12 and connector assembly 18, guaranteeing does not have the space between contact head and the plug.Meanwhile, form extruding between contact head and the plug when the built-in spring of contact mechanism 13 makes butt joint and contact, the centre does not have the space, has improved efficiency of transmission, thereby realizes big current delivery.After contacting between contact head and the plug; Electric current is successively through circuit, n core penetration piece 7, contact mechanism 13, plug 15, n core underwater electrical connector 19 in the n+4 core underwater electrical connector 6, cabin, the cable from the cable transmission of active butt joint body 10 1 sides to passive butt joint body 17 1 sides.Carry out at last the cable at two ends is carried out the electric power transfer test, guarantee that butt joint is correct.When needs separate; Give the claw motor 8 power supplies through n+4 core underwater electrical connector 6, make its reverse rotation, drive claw and open; Two interfaces begin to separate under the effect of spring restoring force, through other means active interfacing part and passive interfacing part are separated fully afterwards.
The arrangements of electric connection self of automaton under water of the present invention does not have propeller, only depends on and oneself can not move under water.When being applied under water on the modularized self-reorganization robot; Need this device is integrated, is fixed on the body that underwater propeller is housed; Be applied in submerged cable when connecting wet plug and connecting, need by nobody have cable underwater robot (ROV) to carry and through handle ROV accomplish two interfaces near with the task of docking.
Claims (8)
1. automaton arrangements of electric connection under water; Comprise initiatively interfacing part and passive interfacing part, it is characterized in that: said active interfacing part comprises claw screw mandrel (1), click-on mechanism (9), claw driving mechanism, end cover (3), active butt joint body (10), n+4 core underwater electrical connector (6), n core penetration piece (7), contact shoe (12), contact mechanism (13), contact driving mechanism and locating cone (14); Said end cover (3) is fixed in the initiatively rear end of butt joint body (10) of shelly; Form sealed space; Said click-on mechanism (9) circumferentially is fixed in uniform way on the sidewall of butt joint body (10) initiatively and with claw screw mandrel (1) and is connected; Said contact shoe (12) and contact mechanism (13) fixed thereon are arranged at outside the antetheca of active butt joint body (10); Said n+4 core underwater electrical connector (6) is fixed on the end cover (3); And the n core penetration piece (7) of butt joint body (10) inner space is connected with contact mechanism (13) through placing initiatively, and said claw driving mechanism and contact driving mechanism are arranged at initiatively in butt joint body (10) volume inside, the butt joint that this claw driving mechanism connects claw screw mandrel (1) and driving click-on mechanism (9) realization active interfacing part and passive interfacing part with separate; This contact driving mechanism connecting terminal seat (12) and contact-actuating seat (12) and contact mechanism (13) move forward and backward, and said locating cone (14) is fixed on the antetheca of active butt joint body (10); Said passive interfacing part comprises plug (15), inserted link (16), has the passive butt joint body (17) of cavity, connector assembly (18) and n core underwater electrical connector (19); Said connector assembly (18) is fixed in the front end of passive butt joint body (17); Said inserted link (16) runs through this connector assembly (18); Said plug (15) is connected in the front end of inserted link (16), and said n core underwater electrical connector (19) is fixed in the rear end of passive butt joint body (17) and is electrically connected with inserted link (16).
2. the arrangements of electric connection of automaton under water according to claim 1; It is characterized in that: said contact mechanism (13) comprises spring and contact head; This contact head is electrically connected with n core penetration piece (11) and n+4 core underwater electrical connector (6), and this spring is built in the said contact mechanism (13) and compresses with this contact head and contacts.
3. the arrangements of electric connection of automaton under water according to claim 1 and 2; It is characterized in that: said claw driving mechanism comprises claw sprocket wheel (2) and claw motor (8); This claw motor (8) is through chain Connection Card dog chain wheel (2), and this claw sprocket wheel (2) is fixed in an end of said claw screw mandrel (1); Said click-on mechanism (9) comprises the claw that has pin, has the fixing claw side plate of gathering sill and is rotatably connected in the Jack catch nuts on the claw screw mandrel (1), and this Jack catch nuts is connected in an end of claw, and the pin of this claw slides in the gathering sill of claw side plate.
4. the arrangements of electric connection of automaton under water according to claim 1 and 2; It is characterized in that: said contact driving mechanism comprises contact motor seat board (4), contact motor (5) and contact shoe screw mandrel (11); Said contact shoe screw mandrel (11) is connected on the said contact shoe (12); Said contact motor (5) is fixed in through contact motor seat board (4) on the inwall of said active butt joint body (10), and this contact motor (5) connecting terminal seat screw mandrel (11) and promotion contact shoe (12) move forward and backward.
5. the arrangements of electric connection of automaton under water according to claim 1 and 2 is characterized in that: fill up vulcanizate in passive butt joint body (17) cavity between said n core plug seat (18) and the n core underwater electrical connector (19).
6. the arrangements of electric connection of automaton under water according to claim 1 and 2 is characterized in that: be provided with sealing ring with the junction of passive butt joint body (17) respectively with the junction of active butt joint body (10) and at said connector assembly (18) and n core underwater electrical connector (19) respectively at said claw screw mandrel (1), end cover (3), n+4 core underwater electrical connector (6), contact shoe (12), contact mechanism (13) and contact driving mechanism.
7. the arrangements of electric connection of automaton under water according to claim 1 and 2 is characterized in that: be filled with oil in said end cover (3) and the seal cavity inside that active butt joint body (10) forms.
8. the arrangements of electric connection of automaton under water according to claim 1 and 2; It is characterized in that: the quantity of said locating cone (14) is 3; It is evenly distributed on the interface of butt joint body (10) initiatively, and the interface of said passive butt joint body (17) is provided with 3 positions and this locating cone (14) corresponding positioning hole and fit mutually with it.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201110327506XA CN102522658A (en) | 2011-10-25 | 2011-10-25 | Electrical-connecting device for underwater automatic machine |
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| CN201110327506XA CN102522658A (en) | 2011-10-25 | 2011-10-25 | Electrical-connecting device for underwater automatic machine |
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| 庄广胶等: "水下模块化自重构机器人对接导引", 《海洋工程》 * |
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| CN106313067A (en) * | 2016-09-18 | 2017-01-11 | 河海大学常州校区 | Underwater robot communication docking system, underwater robot and clustered control system |
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| CN109728474A (en) * | 2018-12-29 | 2019-05-07 | 中国船舶重工集团公司第七一九研究所 | Plug assembly and its insertion method based on ROV guidance |
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Application publication date: 20120627 |