CN103986015A - Underwater charging connecting mechanism - Google Patents

Underwater charging connecting mechanism Download PDF

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Publication number
CN103986015A
CN103986015A CN201410195469.5A CN201410195469A CN103986015A CN 103986015 A CN103986015 A CN 103986015A CN 201410195469 A CN201410195469 A CN 201410195469A CN 103986015 A CN103986015 A CN 103986015A
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CN
China
Prior art keywords
rod
hollow
charging
sliding cylinder
spring
Prior art date
Application number
CN201410195469.5A
Other languages
Chinese (zh)
Inventor
张铭钧
高海宝
杜晓飞
郭炳岐
宗超勇
郭冠群
赵文德
徐建安
王玉甲
Original Assignee
哈尔滨工程大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 哈尔滨工程大学 filed Critical 哈尔滨工程大学
Priority to CN201410195469.5A priority Critical patent/CN103986015A/en
Publication of CN103986015A publication Critical patent/CN103986015A/en

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Abstract

The invention aims at providing an underwater charging connecting mechanism. The underwater charging connecting mechanism comprises a guide cylinder, a sliding cylinder, a first hollow connecting rod, a second hollow connecting rod, a hollow bulb connecting rod, a charging connector installing base and a guide base. The sliding cylinder is installed in the guide cylinder. An upper knuckle bearing is arranged in the sliding cylinder, a lower knuckle bearing is fixed to the lower end of the sliding cylinder, the first hollow connecting rod is fixed to the lower portion of the lower knuckle bearing, the upper end of the second hollow connecting rod is connected with the charging connector installing base, and the lower end of the second hollow connecting rod is connected with the upper knuckle bearing. The upper end and the lower end of the hollow bulb connecting rod are installed in the upper knuckle bearing and the lower knuckle bearing respectively, a first spring, a second spring, a third spring and a fourth spring are connected to the upper knuckle bearing, the other end of the first spring, the other end of the second spring, the other end of the third spring and the other end of the fourth spring are installed on the inner wall of the sliding cylinder, and the guide base is installed on a charged underwater robot. The posture of a charging connector can be passively adjusted to adapt to the angle and positional deviation between a butt joint device and an AUV charging jack, and connecting accuracy of the charging connector and the charging jack is guaranteed.

Description

The bindiny mechanism of charging under water

Technical field

What the present invention relates to is a kind of bindiny mechanism, specifically bindiny mechanism under water.

Background technology

In the use procedure of all kinds of underwater robots, particularly the use of Autonomous Underwater Vehicle (being called for short AUV), owing to carrying the restriction of the energy, needs frequent salvaging ashore to charge and exchanges data conventionally.Adopt charging modes under water, by AUV charging inlet is connected with Underwater Docking Device charging connector, carries out the energy and supplement, can solve salvage frequently, reduce expending of manpower and materials, improve the operating efficiency of underwater robot.After AUV is locked in docking facilities under water, deviation in charging inlet on AUV and the meeting location of the charging connector on docking facilities and angle, this deviation is difficult to elimination, and therefore designing a kind of charging bindiny mechanism that can adapt to this deviation is necessary to meet the required precision of charging connection.

Can complete under water at present mechanism that AUV is connected with docking facilities charging module seldom.Meng Teli bay under water research center (Monterey Bay Aquarium Research Institute) for AUV and designed the bindiny mechanism of a kind of pair of contact pin guiding being connected of docking facilities charging connector, charging mechanism consists of guide pin and the charging connector of pair of metal structure, whole mechanism is installed on straight line driving mechanism, pilot hole drive charging connector on guide pin insertion AUV is connected with AUV charging inlet, by two contact pins and being connected of AUV, can guarantee the connection precision of charging connector, but when AUV charging inlet and the larger position deviation of docking facilities charging connector existence, can not carry out connecting moves.The patent document that the patent No. is " 00242747.8 " has been introduced a kind of application charging bindiny mechanism on computers, is characterized in that the interface of cradle is replaceable, can adapt to the joint of two types; Mobile robot's charge connector that application number is " 200820020341.5 " has been introduced a kind of by the motor driven gear rackwork drive cephalomotor mechanism of charging, feature is the problem that can solve charging connector virtual connections, the problem of location deviation when above-mentioned Liang Zhong mechanism does not all relate to charging connector and is connected with charging inlet.

Summary of the invention

The object of the present invention is to provide the bindiny mechanism of charging under water of the precision that can guarantee after charging connector is connected with charging inlet.

The object of the present invention is achieved like this:

The present invention bindiny mechanism of charging under water, it is characterized in that: comprise guide cylinder, sliding cylinder, the first hollow connecting rod, the second hollow connecting rod, hollow ball heads connecting rod, charging head mount pad, guide holder, sliding cylinder is arranged in guide cylinder and with guide cylinder and forms straight line pair, upper joint bearing is arranged in sliding cylinder, hypozygal bearing is fixed on sliding cylinder bottom, the first hollow connecting rod is fixed on hypozygal bearing below, the second hollow connecting rod upper end connects charging head mount pad, the second hollow connecting rod lower end connects upper joint bearing, the two ends up and down of hollow ball heads connecting rod are spherical structure, the two ends up and down of hollow ball heads connecting rod are arranged on respectively in upper joint bearing and hypozygal bearing, on upper joint bearing, connect first-, tetra-springs, the other end of first-, tetra-springs is arranged on sliding cylinder inwall, guide holder is arranged on the underwater robot being recharged, charging head mount pad profile and guide holder inner wall shape adapt.

The present invention can also comprise:

1, on the lower wall of guide cylinder, through hole is set, the first hollow connecting rod lower end connects the hydraulic cylinder piston rod of docking facilities or the moving lever of straight line driving mechanism by through hole.

2, the first-the second spring is connected with sliding cylinder inwall bottom, the the first-the second spring is arranged symmetrically with into positive splayed with respect to upper joint bearing, three-, tetra-springs are connected with sliding cylinder inwall bottom, and three-, tetra-springs are arranged symmetrically with into herringbone with respect to hypozygal bearing.

3, described charging head mount pad profile is male-tapered, and the inwall of guide holder is inner conical.

Advantage of the present invention is:

1, double end Gan Jie oscillating bearing mechanism has six-freedom degree, can adapt to larger position and angular deviation;

2, splayed configuration layout of spring mode has been saved space, realized double end Gan Jie oscillating bearing mechanism from orthofunction, the splayed structure of positive and negative layout makes double end bar connect oscillating bearing stress balance when initial position;

3, connecting rod adopts tubular structure, can internal wiring, rationally utilized space, and improved safety and reliability;

4, taper guiding mechanism can be realized guiding and high-precision connection request.

Accompanying drawing explanation

Fig. 1 is structural representation of the present invention;

Fig. 2 is that layout of spring mode master looks partial enlarged drawing;

Fig. 3 is that partial enlarged drawing is looked on a layout of spring mode left side;

Fig. 4 is that layout of spring mode is overlooked partial enlarged drawing.

Embodiment

Below in conjunction with accompanying drawing, for example the present invention is described in more detail:

In conjunction with Fig. 1~4, guide cylinder 1 and sliding cylinder 4 have formed straight line vice mechanism, guide cylinder 1 top edge design and installation hole is connected with docking facilities framework, and sliding cylinder 4 lower ends connect with hypozygal bearing 3 by bolt, and sliding cylinder 4 can be done straight reciprocating motion along the inwall of guide cylinder 1; The first hollow connecting rod 2, hypozygal bearing 3, hollow ball heads connecting rod 6, upper joint bearing 7 and spring 5 form from formal hollow double end Gan Jie oscillating bearing mechanism, first hollow connecting rod 2 one end are connected with the moving lever of hydraulic cylinder piston rod on docking facilities or straight line driving mechanism, the other end and hypozygal bearing 3 pass through Bolt Connection, hollow ball heads connecting rod 6 connects hypozygal bearing 3 and upper joint bearing 7, upper joint bearing 7 is uniform picks out four springs 5, the other end of spring is connected with sliding cylinder 4, and the arrangement form of spring as shown in Figure 2, Figure 3 and Figure 4; The second hollow connecting rod 8, male-tapered charging head mount pad 9 and inner conical guide holder 10 form taper charging guiding mechanism, second hollow connecting rod 8 one end connect with upper joint bearing 7 by bolt, the other end connects with male-tapered charging head mount pad 9 by bolt, and inner conical guide holder 10 is arranged on AUV.

During connection, the moving lever of hydraulic cylinder piston rod or straight line driving mechanism moves upward, promote the first hollow connecting rod 2, and other mechanism of upper connection moves upward, male-tapered charging connector mount pad 9 is to inner conical guide holder 10 motion and finally fit tightly with inner conical guide holder 10, realizes upper being connected of charging inlet of charging module in male-tapered charging mount pad 9 and AUV, hollow ball heads connecting rod 6 lower ends can be rotated in hypozygal bearing 3, upper joint bearing 7 can rotate around hollow ball head rod 6 upper ends, therefore, male-tapered charging connector mount pad 9 positions that are connected on upper joint bearing 7 by the second hollow connecting rod 8 are swingable, also can rotate around hollow ball head rod 6 upper ends, when there is angle and position deviation in the axis of male-tapered charging connector mount pad 9 and inner conical guide holder 10, male-tapered charging connector mount pad 9 can be subject to the restriction of inner conical guide holder 10, position and angular deviation meeting are corrected, final and inner conical guide holder fits tightly, after this moving lever stop motion of hydraulic cylinder piston rod or straight line driving mechanism.

The object of the present invention is to provide a kind of taper of the flexibility bindiny mechanism of charging under water, charging connector can be passive adjusting self attitude, the angle and the position deviation that to adapt to docking facilities and AUV charging inlet, exist, guarantee the precision after charging connector is connected with charging inlet.

The object of the present invention is achieved like this:

It comprises inside and outside cartridge type straight line vice mechanism, from formal hollow double end Gan Jie oscillating bearing mechanism, taper charging guiding mechanism, described inside and outside cartridge type straight line vice mechanism is comprised of external orientation cylinder and inner sliding cylinder, and external orientation cylinder is arranged in docking facilities frame, and inner sliding cylinder can be done straight reciprocating motion along external orientation cylinder inwall, described from formal hollow double end Gan Jie oscillating bearing mechanism by the first hollow connecting rod, upper and lower two oscillating bearings and hollow ball heads connecting rod form, first hollow connecting rod one end is connected on the moving lever of docking facilities hydraulic cylinder piston rod or other straight line driving mechanism, the other end connects hypozygal bearing, hypozygal bearing connects the sliding cylinder of inside and outside cartridge type straight line vice mechanism, hollow ball heads connecting rod connects upper and lower two oscillating bearings, uniformly on the circumference of upper joint bearing side pick out four extension springs, two with respect to spring become positive splayed to be connected with sliding cylinder inwall bottom, other two become herringbone to be connected with sliding cylinder upper inside wall, taper charging guiding mechanism forms by the second hollow connecting rod, male-tapered charging head mount pad with the inner conical guide holder of tapering, second hollow connecting rod one end connects the upper joint bearing of double end Gan Jie oscillating bearing mechanism, the other end connects male-tapered charging head mount pad, and inner conical guide holder is arranged on AUV.In connection procedure, the moving lever of hydraulic cylinder piston rod or straight line driving mechanism moves upward, and other mechanism that promotes the first hollow connecting rod and upper connection thereof moves upward, and male-tapered charging head mount pad moves and contacts with inner conical guide holder to inner conical guide holder; The moving lever of hydraulic cylinder piston rod or straight line driving mechanism continues to move upward, under the effect of inner conical guide holder, male-tapered charging head mount pad position and the angle of double end Gan Jie oscillating bearing mechanism and upper connection thereof are corrected, finally both fit tightly, male-tapered charging head mount pad and the dead in line of inner conical guide holder, realize positioning requirements, after this moving lever stop motion of hydraulic cylinder piston rod or straight line driving mechanism.

Multi-faceted flexible taper charging mechanism under water of the present invention, using hydraulic cylinder or the straight line driving mechanism power resources as charging bindiny mechanism motion, by the length of reasonable Arrangement spring, design sliding cylinder internal diameter and first and second hollow connecting rod, what make to have six-freedom degree drives male-tapered charging head mount pad to adjust with the position of inner conical guide holder from formal hollow double end Gan Jie oscillating bearing mechanism, because male-tapered charging head mount pad and inner conical guide holder are with tapering size, therefore, in the time of can guaranteeing to have connected, both overlap by axis completely.The described one layout of spring mode that aligns eight sons and a pair of Eight characters has been saved space, realized double end Gan Jie oscillating bearing mechanism from orthofunction, also can guarantee that double end bar connects oscillating bearing stress balance when initial position.Described connecting rod and double end bar connect oscillating bearing and adopt tubular structure, can inner cabling, rationally utilized space, for charging module and connecting line thereof provide safety guarantee.

A kind of multi-faceted flexible taper charging under water of the present invention bindiny mechanism, comprises inside and outside cartridge type straight line vice mechanism, from formal hollow double end Gan Jie oscillating bearing mechanism, taper charging guiding mechanism; Inside and outside cartridge type straight line vice mechanism is comprised of guide cylinder and the sliding cylinder of two matched in clearance, external orientation cylinder connection frame, and inner sliding cylinder can be done straight reciprocating motion along guide cylinder under the drive of hydraulic cylinder or other straight line driving mechanism; Describedly from formal hollow double end Gan Jie oscillating bearing mechanism, by upper and lower two bars, connect oscillating bearing and form, bar is tubular structure, and upper boom connects that oscillating bearing place is uniform to be picked out four springs and become respectively between two the positive Eight characters to be connected with inner tube wall with inverse Ba type; Described taper charging guiding mechanism forms by male-tapered charging head mount pad with the inner conical guide holder of tapering.

External orientation cylinder top edge is useful on the connecting hole being connected with frame, and bottom is useful on by the through hole of wire and piston rod.Described inner sliding cylinder outer wall and external orientation cylinder inwall matched in clearance, sliding cylinder inwall is useful on the hangers being connected with spring, and bottom is useful on the lower beam from formal hollow double end Gan Jie oscillating bearing mechanism and connects the screwed hole that oscillating bearing is connected.

Upper boom connects and uniformly on the circumference of oscillating bearing side picks out four extension springs, two with respect to spring become positive splayed to be connected with sliding cylinder inwall bottom, other two become herringbones to be connected with sliding cylinder upper inside wall.Described lower beam connects the logical Bolt Connection of oscillating bearing and sliding cylinder bottom.

Male-tapered charging head mount pad and inner conical guide holder are with tapering size, and male-tapered charging head mount pad connects oscillating bearing by tubulose connecting rod and upper boom and is connected, and inner conical guide holder is arranged on carrier to be connected.

Claims (5)

1. the bindiny mechanism of charging under water, it is characterized in that: comprise guide cylinder, sliding cylinder, the first hollow connecting rod, the second hollow connecting rod, hollow ball heads connecting rod, charging head mount pad, guide holder, sliding cylinder is arranged in guide cylinder and with guide cylinder and forms straight line pair, upper joint bearing is arranged in sliding cylinder, hypozygal bearing is fixed on sliding cylinder bottom, the first hollow connecting rod is fixed on hypozygal bearing below, the second hollow connecting rod upper end connects charging head mount pad, the second hollow connecting rod lower end connects upper joint bearing, the two ends up and down of hollow ball heads connecting rod are spherical structure, the two ends up and down of hollow ball heads connecting rod are arranged on respectively in upper joint bearing and hypozygal bearing, on upper joint bearing, connect first-, tetra-springs, the other end of first-, tetra-springs is arranged on sliding cylinder inwall, guide holder is arranged on the underwater robot being recharged, charging head mount pad profile and guide holder inner wall shape adapt.
2. the bindiny mechanism of charging under water according to claim 1, is characterized in that: on the lower wall of guide cylinder, through hole is set, the first hollow connecting rod lower end connects the hydraulic cylinder piston rod of docking facilities or the moving lever of straight line driving mechanism by through hole.
3. the bindiny mechanism of charging under water according to claim 1 and 2, it is characterized in that: the first-the second spring is connected with sliding cylinder inwall bottom, the the first-the second spring is arranged symmetrically with into positive splayed with respect to upper joint bearing, three-, tetra-springs are connected with sliding cylinder inwall bottom, and three-, tetra-springs are arranged symmetrically with into herringbone with respect to hypozygal bearing.
4. the bindiny mechanism of charging under water according to claim 1 and 2, is characterized in that: described charging head mount pad profile is male-tapered, and the inwall of guide holder is inner conical.
5. the bindiny mechanism of charging under water according to claim 3, is characterized in that: described charging head mount pad profile is male-tapered, and the inwall of guide holder is inner conical.
CN201410195469.5A 2014-05-09 2014-05-09 Underwater charging connecting mechanism CN103986015A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201410195469.5A CN103986015A (en) 2014-05-09 2014-05-09 Underwater charging connecting mechanism

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201410195469.5A CN103986015A (en) 2014-05-09 2014-05-09 Underwater charging connecting mechanism

Publications (1)

Publication Number Publication Date
CN103986015A true CN103986015A (en) 2014-08-13

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201410195469.5A CN103986015A (en) 2014-05-09 2014-05-09 Underwater charging connecting mechanism

Country Status (1)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104201512A (en) * 2014-09-09 2014-12-10 哈尔滨工程大学 Underwater charging connecting mechanism
CN104908912A (en) * 2015-06-11 2015-09-16 哈尔滨工程大学 Underwater robot locking mechanism
CN107204530A (en) * 2017-05-16 2017-09-26 中国船舶科学研究中心(中国船舶重工集团公司第七0二研究所) The latent device docking charging plug device of autonomous
CN109921233A (en) * 2017-12-13 2019-06-21 中国科学院沈阳自动化研究所 A kind of Underwater Docking Device

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104201512A (en) * 2014-09-09 2014-12-10 哈尔滨工程大学 Underwater charging connecting mechanism
CN104201512B (en) * 2014-09-09 2016-08-17 哈尔滨工程大学 Charging connection mechanism under water
CN104908912A (en) * 2015-06-11 2015-09-16 哈尔滨工程大学 Underwater robot locking mechanism
CN107204530A (en) * 2017-05-16 2017-09-26 中国船舶科学研究中心(中国船舶重工集团公司第七0二研究所) The latent device docking charging plug device of autonomous
CN109921233A (en) * 2017-12-13 2019-06-21 中国科学院沈阳自动化研究所 A kind of Underwater Docking Device
CN109921233B (en) * 2017-12-13 2020-05-26 中国科学院沈阳自动化研究所 Underwater butt joint device

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Application publication date: 20140813