CN103978497B - Hydraulic drive type underwater emergency kickoff mechanism - Google Patents
Hydraulic drive type underwater emergency kickoff mechanism Download PDFInfo
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- CN103978497B CN103978497B CN201410195466.1A CN201410195466A CN103978497B CN 103978497 B CN103978497 B CN 103978497B CN 201410195466 A CN201410195466 A CN 201410195466A CN 103978497 B CN103978497 B CN 103978497B
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Abstract
It is an object of the invention to provide hydraulic drive type underwater emergency kickoff mechanism, adopt hydraulic oil or water as driving medium, including basic machine, part freed by signal cable, part freed by power cable.Basic machine provides the connecting platform between submarine navigation device and underwater manipulator.Under water during aircraft normal operation, this device can guarantee that aircraft and underwater manipulator are safe and reliable and is connected.When there is catastrophe failure in submarine navigation device-mechanical hand, as mechanical hand respectively drives joint to occur serious winding or stuck fault or arm end effector to be snarled by twister in water, conventional faults-tolerant control cannot meet the safety that job requirements must carry out throwing load to guarantee submarine navigation device.Control system sends frees instruction, quickly realizes the disengaging between hydraulic efficiency manipulator and submarine navigation device, to guarantee the safety of aircraft.The present invention can realize freeing under water of hydraulic efficiency manipulator body, power cable and signal cable.
Description
Technical field
The present invention relates to a kind of underwater release device, the specifically kickoff mechanism of submarine navigation device, mechanical joint.
Background technology
Submarine navigation device-arm-and-hand system is that the currently the only deep-sea that can enter carries out the equipment of marine environment, resource detection, underwater performance.This system job is in complicated and unknown marine environment, and each joint of mechanical hand is it may happen that be wound around, block catastrophe failure of waiting indefinitely, and arm end effector is likely to by faults such as twister windings under water.Now traditional faults-tolerant control cannot guarantee the safety of system, makes rapidly mechanical hand depart from and is to ensure that aircraft inherently safe important way in aircraft.Therefore, underwater emergency kickoff mechanism is one of important device guaranteeing security of system in submarine navigation device-arm-and-hand system.
The each joint of mechanical hand is provided with rotary encoder and each joint angles is measured, and is therefore realizing needing when mechanical hand departs from aircraft simultaneously completing freeing of signal cable and power cable.At present, technology of freeing for underwater hydraulic manipulator mostly simply considers freeing of power cable, and do not relate to freeing of signal cable, the method that the desertion device of design adopts hydraulic oil to break the attachment bolt that can break in the article of 1998 " the Structural Design of the blue latent device amphitypy mechanical hand of whale number ", completing separating of mechanical hand and submarine navigation device, oil circuit control disconnects because of the separation of basic machine simultaneously.And for electric manipulator, signal cable and power cable are integrated in one, it can thus be assumed that containing only there being freeing of signal cable, such as application number CN201210140056.8 " Pneumatic driving type underwater release device " by gases at high pressure promotion cable plug and separating between socket, thus the disengaging realized between mechanical hand and submarine navigation device.
Additionally, relate to underwater ejection device, if application number is CN201110154966.7, name is called the patent document of " autonomous underwater vehicle lock-opening style underwater load rejection mechanism ", simply achieves the throwing load of object, without regard to freeing of power cable and signal cable.
Summary of the invention
It is an object of the invention to provide the hydraulic drive type underwater emergency kickoff mechanism freed under water that can realize hydraulic efficiency manipulator body, power cable and signal cable.
The object of the present invention is achieved like this:
Hydraulic drive type underwater emergency kickoff mechanism of the present invention, it is characterized in that: include the upper end cover being connected with submarine navigation device, the bottom end cover being connected with mechanical hand, spigots support part, free actuator, through hole is set in the middle part of upper end cover, connected cable socket and cable plug are set in upper end cover through hole, arrange between through hole and upper end cover sidewall and free hole, free actuator to be arranged on and free in hole, upper end cover upper wall is installed the first pipe joint, first pipe joint is connected with freeing actuator, spigots support part is arranged between cable plug and through-hole wall, spigots support part circumference stretches out boss, upper end cover bottom arranges steel ball hole, bottom end cover arranges groove, bottom end cover is arranged on the outside of upper end cover bottom, steel ball is positioned in steel ball hole, withstood by boss inside steel ball, withstood by groove outside steel ball, so that bottom end cover hangs on upper end cover, fixed dam below bottom end cover, the middle part of baffle plate is through hole, end is entity, spigots support part is positioned at above the through hole of baffle plate, boss is positioned at above the entity of baffle plate.
The present invention can also include:
1, the sidewall of upper end cover arranges upper end cover pipe joint, the sidewall of bottom end cover arranges bottom end cover pipe joint, bottom end cover pipe joint is positioned at the lower section of the upper end cover pipe joint of correspondence, and bottom end cover pipe joint passes through bottom end cover and is connected with the link slot offered in upper end cover with corresponding upper end cover pipe joint, install in the link slot of the link slot of bottom end cover and the upper end cover of its correspondence and free piston, free piston to seal each through O with upper end cover and bottom end cover, free piston and offer through hole.
2, described upper end cover pipe joint and bottom end cover pipe joint all have 12, and described steel ball hole, groove, steel ball all have 6.
Present invention have an advantage that
1, adopting the driving medium identical with hydraulic efficiency manipulator, thus avoiding need to additionally carrying power source, saving the space of submarine navigation device-mechanical hand.
2, freeing of basic machine, signal cable and power cable need to be completed for separating between underwater hydraulic manipulator with submarine navigation device, realize freeing of above three parts by the motion of a mechanism simultaneously, this kickoff mechanism compact conformation, only need to occupy the space that submarine navigation device is less.
3, by the pretightning force of screw guarantee underwater hydraulic manipulator install safely and reliably with on submarine navigation device, it is ensured that during normal operation, mechanical hand can normally complete task.
4, baffle plate is connected by screw and is fixed on bottom bottom end cover, both can realize when freeing offer stress platform, it is possible to make bottom end cover easily process, easy for installation.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the side view (eliminating pipe joint, manipulator joint and aircraft connecting plate) of the present invention；
Fig. 3 is the top view (eliminating pipe joint, manipulator joint and aircraft connecting plate) of the present invention；
Fig. 4 is upper end cover schematic diagram；
Fig. 5 is bottom end cover schematic diagram；
Fig. 6 is spigots support part schematic diagram.
Detailed description of the invention
Below in conjunction with accompanying drawing citing, the present invention is described in more detail:
In conjunction with Fig. 1～6, the overall structure of a kind of fluid pressure type underwater emergency kickoff mechanism of the present invention, it mainly includes basic machine, part freed by signal cable and part freed by power cable.The radial seal that signal cable and power cable are freed between part and basic machine all adopts O to seal.
Basic machine includes upper and lower end cap two parts；The structure of upper end cover 1 as shown in Figure 4, its upper end processing have two pipe screwed holes, by pipe joint 3 can allow highly pressurised liquid enter into upper end cover 1 with free actuator 19 formed confined spaces.The processing of its upper end has four equally distributed screwed holes, can realize the pretension to bottom end cover 12 by screw 23, so that it is guaranteed that bottom end cover 12 and steel ball 20 are in close contact, it is ensured that the normal operation of mechanical hand.The processing of its upper end has the connection by screw 2 with submarine navigation device of equally distributed four connecting holes, simultaneously for reducing the size of this emergent kickoff mechanism, is processing two grooves with submarine navigation device junction so that the assembling of screw-nut.Uniformly machined 12 pipe screwed holes in upper end cover 1 surrounding, each screwed hole bottom communicates with unthreaded hole.The hydraulic means that screwed hole is provided with aircraft by pipe joint 7, hydraulic tube is connected, and unthreaded hole and the radial seal freed between piston 9 adopt O 10 to seal.The liquid driving each joint can within it flow.Cable socket 5 is fixed in upper end cover 1 by regular screw threads, realizes sealing by vulcanizing treatment between signal cable input 22 and cable socket 5.Free actuator 19 and realize the radial seal with upper end cover 1 by O 6.6 steel ball sleeves 21 are uniform to be embedded in upper end cover 1, blocks bottom end cover 12 outside steel ball 20, and inner side is subject to keeping out of spigots support part 17, so that bottom end cover 12 is suspended on upper end cover 1.
As it is shown in figure 5, bottom end cover 12 provides the platform being connected with mechanical hand.Baffle plate 13 is fastened on the bottom of bottom end cover 12 by screw 14, in freeing process, frees actuator 19 under the driving of highly pressurised liquid, first promotes spigots support part 17 to move downward, then promotes baffle plate 13 that bottom end cover 12 is departed from upper end cover 1.Bottom end cover 12 surrounding processing 12 pipe screwed holes and unthreaded hole, are transferred to each joint by pipe joint 11 and hydraulic tube by power；In the unthreaded hole freeing piston 9 and inserting upper and lower end cap, piston 9 will be freed and form radial seal by O 10 between end cap 12 up and down.
As shown in Figure 6, cable plug 8 is fixed in spigots support part 17 by regular screw threads the structure of spigots support part 17, forms an entirety.Signal cable outfan 16 is respectively connected in each joint again, wherein realizes sealing by vulcanizing treatment between cable plug 8 and signal cable outfan 16.Cable plug 8 realizes radial seal by O 18 and upper end cover 1 inwall, it is ensured that under normal circumstances, mechanical hand energy normal operation.
The operation principle of this embodiment is:
Under normal circumstances, this device is for providing safe and reliable connecting platform between submarine navigation device and hydraulic efficiency manipulator.Upper end cover 1 is connected with aircraft connecting plate 4, and bottom end cover 12 is connected with manipulator shoulder joint 15, and the support force that bottom end cover 12 is provided by steel ball 20 and spigots support part 17 is suspended in upper end cover 1.Cable plug 8 inserts to realize signal transmission in cable socket 5, and wherein sealing everywhere relates to vulcanizing treatment and O radial seal.Hydraulic tube, pipe joint 7, upper end cover 1, free piston 9, closed loop that bottom end cover 12, pipe joint 11, hydraulic tube are formed constitutes power transmission path, is directed to pipe thread seal and O radial seal.
When catastrophe failure occur, need to being departed from by mechanical hand when aircraft, highly pressurised liquid be transferred to upper end cover 1 by hydraulic tube and in 19 confined spaces formed of freeing actuator, promotes and free actuator 19 and move downward by aircraft.Freeing actuator 19 promotes spigots support part 17 to drive cable plug 8 to move downwardly together, and steel ball 20 loses keeping out and no longer providing support force for bottom end cover 12 of plug supporter 17 simultaneously.When cable plug 8 completely disengages from cable socket 5, just achieve the separation of signal cable；Free actuator 19 and spigots support part 17 continues to move downward under the promotion of highly pressurised liquid, after touching baffle plate 13, whole for drive bottom end cover 12 and mechanical hand body are moved downward, thus departing from upper end cover, finally achieve power cable and mechanical hand body and separating between aircraft.
The purpose of patent of the present invention is to provide a kind of underwater emergency kickoff mechanism that can simultaneously realize hydraulic efficiency manipulator body, power cable and signal cable for submarine navigation device-hydraulic pressure submarine mechanical hand system.When submarine navigation device-arm-and-hand system normal operation, this underwater emergency kickoff mechanism is connected safely and reliably for providing between submarine navigation device with hydraulic efficiency manipulator.And when submarine navigation device-arm-and-hand system generation catastrophe failure, mechanical hand need to be abandoned when guaranteeing submarine navigation device itself safe, this kickoff mechanism can realize the reliable separation of the basic machine between mechanical hand and aircraft, power cable and signal cable.
The purpose of patent of the present invention is achieved through the following technical solutions:
Patent of the present invention adopts hydraulic driving mode, is mainly freed part by basic machine, signal cable, power cable frees part three part and form.When aircraft normal operation, the support force that bottom end cover is provided by steel ball and spigots support part hangs on upper end cover.For guaranteeing the safety suspension of bottom end cover, have four uniform screwed holes on upper end cover top, give bottom end cover uniform pretightning force by screw, to ensure that bottom end cover can be in close contact with steel ball.Now all parts of freeing all do not work, and the signal that aircraft provides and power all can be normally transferred in mechanical hand, it is achieved that safe and reliable between mechanical hand with aircraft is connected.When being in an emergency, as mechanical hand joint occurs serious winding or stuck fault or arm end effector to be snarled by twister in water, mechanical hand need to completely disengage from aircraft, including signal cable and power cable.Aircraft control systems sends instruction, highly pressurised liquid is produced by self-contained hydraulic pump, it is transferred in basic machine by hydraulic tube, pipe joint etc., and then promote and free actuator and move downward, free actuator and promote spigots support part, making steel ball lose the support of spigots support part, now cable plug separates with cable socket, it is achieved thereby that the freeing of signal cable；Steel ball no longer provides support force for bottom end cover, continues under the promotion freeing actuator, and bottom end cover departs from upper end cover, it is achieved thereby that the freeing of power cable and hydraulic efficiency manipulator body.
Basic machine is mainly made up of upper end cover, bottom end cover, baffle plate and multiple pipe joints etc..Upper end cover processing has 12 screw thread fuel feed holes, it may be achieved the driving in 6 joints；Processing has 2 fuel feed holes freed, and it disposes pipe joint, is connected with the high drive source component entrained by aircraft by hydraulic tube；The inside processing of upper end cover has a looping pit, under the driving of highly pressurised liquid, frees actuator and can move in looping pit；Bottom end cover processing has 12 screw thread oil outlets, corresponding with upper end cover.Upper and lower end cap processes the connection to realize between mechanical hand and aircraft of 4 unthreaded holes respectively.Upper end cover processing has 4 screwed holes, provides pretightning force by screw for bottom end cover, to guarantee to be in close contact between bottom end cover and steel ball, it is achieved safe and reliable between mechanical hand with aircraft is connected.Part freed by signal cable, frees actuator by highly pressurised liquid promotion and moves downward, frees actuator and realize radial seal by O；Thus realizing separating between cable plug with cable socket, finally realize freeing of signal cable.Power cable free part: connect by freeing piston between end cap up and down；Free piston and realize radial seal by O；Free the processing of piston centre place and have through hole, during submarine navigation device-mechanical hand normal operation, highly pressurised liquid passes through hydraulic tube, pipe joint, upper end cover, frees piston, bottom end cover, pipe joint, hydraulic tube, finally distributes to each joint, and this route is power transmission line.When need to free, completing after signal cable frees, free actuator under the driving of highly pressurised liquid, continue to press on spigots support part and move downward, final promote baffle plate to drive whole bottom end cover to depart from upper end cover, it is achieved freeing of power cable.
The work process of hydraulic drive type underwater emergency kickoff mechanism is as follows: after the control system of submarine navigation device sends and frees instruction, submarine navigation device provides highly pressurised liquid (hydraulic oil or water) for this kickoff mechanism, promotion is freed actuator and is moved downward, and then promotion socket support, cable plug is driven to depart from cable socket, it is achieved freeing of signal cable；Meanwhile, along with moving downward of socket support, steel ball loses the support of socket support, and no longer provides support force for bottom end cover, and bottom end cover is at the moved downward of self gravitation, but is difficult to separate with upper end cover；Now freeing actuator to continue to promote socket support and baffle plate motion under the driving of highly pressurised liquid, baffle plate is fixed in bottom end cover by screw, thus highly pressurised liquid has promoted bottom end cover to depart from upper end cover indirectly, it is achieved that freeing of power cable.Final whole mechanical hand body, signal cable and power cable reliably depart from aircraft.
Hydraulic drive type underwater emergency kickoff mechanism of the present invention, adopts hydraulic driving mode, is mainly freed part by basic machine, signal cable, power cable frees part three part and form.Under water during aircraft normal operation, the support force that bottom end cover is provided by steel ball and spigots support part hangs on basic machine.Now all parts of freeing all do not work, and the signal that aircraft provides and power all can be normally transferred in mechanical hand, it is achieved that safe and reliable between mechanical hand with aircraft is connected.When being in an emergency, as mechanical hand joint occurs serious winding or stuck fault or arm end effector to be snarled by twister in water, mechanical hand need to completely disengage from aircraft, including the signal cable being connected with aircraft and power cable.Aircraft control systems sends instruction, highly pressurised liquid is produced by self-contained hydraulic pump, it is transferred in basic machine by hydraulic tube, pipe joint etc., and then promote and free actuator and move downward, free actuator and promote spigots support part again, making steel ball lose the support of spigots support part, now cable plug separates with cable socket, it is achieved thereby that the freeing of signal cable；Steel ball no longer provides support force for bottom end cover, continues under the promotion freeing actuator, and bottom end cover departs from upper end cover, it is achieved thereby that the freeing of power cable and hydraulic efficiency manipulator body.
Basic machine is mainly made up of upper end cover, bottom end cover and multiple pipe joints etc..Upper end cover processing has 12 screw thread fuel feed holes, it may be achieved the driving in 6 joints；Processing has 2 fuel feed holes freed, and it disposes pipe joint, is connected with the high drive source component entrained by aircraft by hydraulic tube；The inside processing of upper end cover has a looping pit, under the driving of highly pressurised liquid, frees actuator and can move in looping pit；Bottom end cover processing has 12 screw thread oil outlets, corresponding with upper end cover, constitutes airtight loop, i.e. power cable loop by freeing piston.Upper and lower end cap processes the connection to realize between mechanical hand and aircraft of 4 unthreaded holes respectively.
Upper end cover processing has 4 screwed holes, provides pretightning force by screw for bottom end cover, to guarantee to be in close contact between bottom end cover and steel ball, it is achieved safe and reliable between mechanical hand with aircraft is connected.
Freeing in process, when steel ball no longer provides support force for bottom end cover, now bottom end cover is also difficult to depart from upper end cover, and baffle plate is connected by screw and is fixed on bottom bottom end cover, can continue to give the thrust that bottom end cover is downward by baffle plate thus freeing actuator.
Signal cable is freed part and is promoted by highly pressurised liquid and free actuator and move downward and make cable plug be located away from cable socket to realize freeing of signal cable.Free actuator and realize radial seal by O.
Power cable is freed part and is passed through between end cap up and down to free piston connection；Free piston and realize radial seal by O；Freeing the processing of piston centre place and have through hole, during submarine navigation device-mechanical hand normal operation, highly pressurised liquid passes through hydraulic tube, pipe joint, upper end cover, frees piston, bottom end cover, pipe joint, hydraulic tube, finally distributes to each joint.When need to free, completing after signal cable frees, free actuator under the driving of highly pressurised liquid, continue to press on spigots support part and move downward, final promote baffle plate to drive whole bottom end cover to depart from upper end cover, it is achieved freeing of power cable and hydraulic efficiency manipulator.
Claims (2)
1. hydraulic drive type underwater emergency kickoff mechanism, it is characterized in that: include the upper end cover being connected with submarine navigation device, the bottom end cover being connected with mechanical hand, spigots support part, free actuator, through hole is set in the middle part of upper end cover, connected cable socket and cable plug are set in upper end cover through hole, arrange between through hole and upper end cover sidewall and free hole, free actuator to be arranged on and free in hole, upper end cover upper wall is installed the first pipe joint, first pipe joint is connected with freeing actuator, spigots support part is arranged between cable plug and through-hole wall, spigots support part circumference stretches out boss, upper end cover bottom arranges steel ball hole, bottom end cover arranges groove, bottom end cover is arranged on the outside of upper end cover bottom, steel ball is positioned in steel ball hole, withstood by boss inside steel ball, withstood by groove outside steel ball, so that bottom end cover hangs on upper end cover, fixed dam below bottom end cover, the middle part of baffle plate is through hole, end is entity, spigots support part is positioned at above the through hole of baffle plate, boss is positioned at above the entity of baffle plate；
The sidewall of upper end cover arranges upper end cover pipe joint, the sidewall of bottom end cover arranges bottom end cover pipe joint, bottom end cover pipe joint is positioned at the lower section of the upper end cover pipe joint of correspondence, and bottom end cover pipe joint passes through bottom end cover and is connected with the link slot offered in upper end cover with corresponding upper end cover pipe joint, install in the link slot of the link slot of bottom end cover and the upper end cover of its correspondence and free piston, free piston to seal each through O with upper end cover and bottom end cover, free piston and offer through hole.
2. hydraulic drive type underwater emergency kickoff mechanism according to claim 1, is characterized in that: described upper end cover pipe joint and bottom end cover pipe joint all have 12, and described steel ball hole, groove, steel ball all have 6.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410195466.1A CN103978497B (en) | 2014-05-09 | 2014-05-09 | Hydraulic drive type underwater emergency kickoff mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410195466.1A CN103978497B (en) | 2014-05-09 | 2014-05-09 | Hydraulic drive type underwater emergency kickoff mechanism |
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| CN103978497A CN103978497A (en) | 2014-08-13 |
| CN103978497B true CN103978497B (en) | 2016-06-29 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105757072A (en) * | 2014-12-18 | 2016-07-13 | 成都问达茂源科技有限公司 | Mechanical quick-release device |
| CN106547201A (en) * | 2016-10-31 | 2017-03-29 | 中国船舶重工集团公司第七0五研究所 | A kind of round voyage behaviour thunder section trouserss free the method for testing of time under water |
| CN107351125B (en) * | 2017-08-08 | 2020-08-04 | 江苏科技大学 | Detachable connecting mechanism of manipulator on underwater robot |
| CN108214542B (en) * | 2017-12-18 | 2020-08-25 | 江苏科技大学 | Two-stage force-increasing mechanism driving type underwater electromechanical release device |
| CN109131802B (en) * | 2018-10-12 | 2020-12-22 | 哈尔滨工程大学 | Multi-mode load rejection device of underwater robot |
| CN111846167B (en) * | 2020-07-29 | 2021-11-02 | 青岛海研电子有限公司 | Seabed-based monitoring system |
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