CN104648636A - Mechanical type flexible butt-joint locking mechanism - Google Patents
Mechanical type flexible butt-joint locking mechanism Download PDFInfo
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- CN104648636A CN104648636A CN201510028555.1A CN201510028555A CN104648636A CN 104648636 A CN104648636 A CN 104648636A CN 201510028555 A CN201510028555 A CN 201510028555A CN 104648636 A CN104648636 A CN 104648636A
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- frizzen
- objective body
- locking mechanism
- pin block
- bar
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Abstract
The invention provides a mechanical type flexible butt-joint locking mechanism. The mechanical type flexible butt-joint locking mechanism comprises a butt-joint rod and a target body, wherein the butt-joint rod is composed of a mechanical arm and a butt-joint head, which are connected mutually, the target body is composed of a conical sleeve, a drawing claw, a trigger rod and a pin block, and the butt-joint head can be captured and locked by the target body; the butt-joint rod is arranged on the outer wall of an underwater robot, the target body floats in the water, the butt-joint head can be captured and locked by the target body, the tasks such as guidance, butt joint, locking and the like can be carried out by low action force in a passive environment, and operations such as capture, linking, linkage and the like of the underwater robot can be finished.
Description
Technical field
The invention belongs to mechanical field, relate to mechanical splice locking mechanism, particularly relate to a kind of mechanical type dexterity docking locking mechanism.
Background technology
At space flight navigational field, the research of under-water robot more and more has importance, the variety of task makes under-water robot need more operation, can complete in order to under-water robot can be made catch, connect, the function needs such as moving target hang docking mechanism to realize these operations at robot outer wall.
In prior art, for docking locking mechanism under water, be usually electromechanical, this kind of device needs power supply and carries out hermetically-sealed construction relative complex to equipment due to needs, and this kind of structure has been difficult to the assigned operation of under-water robot when passive.Therefore, be necessary to provide a kind of mechanical docking mechanism.
Summary of the invention
It is simple, practical and convenient that the object of the invention is to provide a kind of structure, the mechanical type dexterity docking locking mechanism being applicable to use under water, can complete docking between under-water robot parts and locking function at passive underwater operation environment.
For achieving the above object, the present invention by the following technical solutions:
Mechanical type dexterity docking locking mechanism, comprise extension bar and objective body, be fixed on the wall of under-water robot to extension bar, objective body swims in water, extension bar is made up of interconnective mechanical arm and butt junction, objective body is made up of circular cone sleeve, pulling claw, frizzen and pin block, is completed catch with locked to butt junction by objective body; Described circular cone sleeve is fixed on objective body front end, frizzen is arranged on circular cone sleeve rear, the telescoping structure that described frizzen is made up of bar in frizzen outer sleeve and frizzen, in frizzen, bar terminal edge is provided with inclined-plane, pin block is arranged with the axial vertical of frizzen, on pin block, cover has pin block spring, by bar end inclined-plane moving contact in roller and frizzen bottom pin block; On frizzen outer sleeve, cover has main pressing spring, and main pressing spring one end is supported on objective body shell, and the boss on the other end and frizzen outer sleeve offsets; Hinged with frizzen outer sleeve in the middle part of pulling claw, pulling claw afterbody draws in fixing by annual spring, pulling claw front portion is opened corresponding with circular cone sleeve portion; After butt junction touches objective body, the conical surface of butt junction front end edge circular cone sleeve moves to frizzen, clash into bar in frizzen, pin block roller is open along slip band untie-sell block in bar end inclined-plane in frizzen, main pressing spring elastic potential energy release promotes whole frizzen and moves along objective body inner chamber, drive pulling claw to move along the fixing shape face in objective body shell, pulling claw front portion closes up and clamps butt junction simultaneously.
Further, described butt junction is eight prisms, and pulling claw is made up of four calvus; The shape of four calvus is corresponding with butt junction prism.
Further, described butt junction eight prism head is provided with the conical surface, and mechanical arm and butt junction are connected by screw.
Further, described mechanical arm is simple joint rotating mechanism.
Further, described circular cone sleeve is fixed on the front end of objective body by screw.
Further, described objective body entirety is cylindrical shape.
Further, described pin block is fixed in the cotter way of objective body shell formation by overcoat pin block spring.
Further, in described frizzen, bar is made up of front and back two parts, and two parts are threaded connection.
Mechanical type dexterity docking locking mechanism of the present invention, comprise extension bar and objective body, by being located on under-water robot outer wall to extension bar, objective body swims in water, being completed by objective body catches with locked to butt junction, and very little application force can be utilized under passive environment to complete importing, docking, the task such as locked, practical and convenient, structure is simple, completes the arresting of under-water robot, links, all multioperations such as interlock.
Further, butt junction adopts eight prisms, and the pulling claw shape of four calvus compositions is corresponding with butt junction prism, and after frizzen drives pulling claw to shrink, four calvus can limit the rotation of eight prisms, completely locked, avoid objective body to rotate.
Accompanying drawing explanation
Fig. 1 is objective body of the present invention and butt junction and under-water robot outer wall perspective exploded view;
Fig. 2 is the exploded drawings of butt junction in the present invention;
Fig. 3 is the schematic diagram of objective body in the present invention;
Fig. 3-1 is the section-drawing of objective body;
Fig. 3-2 is scheme of installations of circular cone sleeve and objective body shell;
Fig. 3-3 is structural representations of frizzen and pulling claw;
Fig. 3-4 is structural representations of pin block and pin block spring;
Fig. 4 is the cooperation schematic diagram of objective body of the present invention and butt junction;
Fig. 4-1 is integral structure schematic diagram;
Fig. 4-2 is that the B-B of Fig. 4-1 is to cutaway view;
In figure: 1-butt junction, 2-mechanical arm, 3-objective body, 4-circular cone sleeve, 5-objective body shell, 6-frizzen outer sleeve, 7-pulling claw, bar in 8-frizzen, 9-pin block, the main pressing spring of 10-, 11-annual spring, 12-roller, 13-pin block spring.
Detailed description of the invention
Describe the present invention below in conjunction with accompanying drawing:
See figures.1.and.2, docking locking mechanism of the present invention comprises extension bar and objective body 3, extension bar is made up of interconnective mechanical arm 2 and butt junction 1, after docking arm 2, support plate is installed, docking arm 2 is installed by support plate and robot wall, butt junction 1 is made up of the eight prism bars that a front end is round and smooth, and mechanical arm 2 links by six screws with butt junction 1; Mechanical arm 2 is simple joint rotating mechanism.
Please refer to Fig. 3, objective body 3 is by pulling claw 7, frizzen outer sleeve 6, bar 8 in frizzen, pin block 9, circular cone sleeve 4, main pressing spring 10, annual spring 11 is formed, described circular cone sleeve 4 is fixed on objective body front end, frizzen is arranged on circular cone sleeve 4 rear, the telescoping structure that described frizzen is made up of bar 8 in frizzen outer sleeve 6 and frizzen, hinged with frizzen outer sleeve 6 in the middle part of pulling claw 7, pulling claw 7 afterbody draws in fixing by annual spring 11, pulling claw 7 front portion is opened corresponding with circular cone sleeve 4 position, on frizzen outer sleeve 6, cover has main pressing spring 10, main pressing spring 10 one end is supported on objective body shell 5, boss on the other end and frizzen outer sleeve 6 offsets, in frizzen, be placed in can along frizzen outer sleeve 6 straight-line motion inside frizzen outer sleeve 6 for bar 8, in frizzen, bar 8 end is provided with inclined-plane, pin block 9 is arranged with the axial vertical of frizzen, by roller 12 and bar 8 end inclined-plane moving contact in frizzen bottom pin block 9, pin block 9 is fixed in the cotter way of objective body shell 5 formation by overcoat pin block spring 13, and the friction relying on frizzen outer sleeve 6 pressure to produce time initial is fixed.Circular cone sleeve 4 meets catching and guiding centering butt junction 2 in a wider context to make, and circular cone sleeve 4 utilizes screw to be fixed on objective body 3 front surface.
As the section-drawing that Fig. 3-1 is objective body 3, circular cone sleeve 4 is connected with screw with objective body shell 5, and frizzen outer sleeve 6 and pulling claw 7 are articulated and connected with cylindrical roller; In frizzen, bar 8 terminal edge is that inclined-plane is for pushing pin block 9 open.
If Fig. 3-2 is circular cone sleeve 4 and objective body shell 5 scheme of installation, two parts screw connects, convenient like this according to different task change coning angle.
As the structural representation that Fig. 3-3 is frizzen and pulling claw, in figure in frizzen bar 8 points of two parts with screw connect be convenient to install, main pressing spring 10 is now compressive state, and the other end is supported on 5 objective body sheath bodies; Annual spring 11 is in open configuration for making pulling claw 7.
As the schematic diagram that Fig. 3-4 is pin block 9 and pin block spring 13, pin block spring 13 makes pin block 9 can eject from pin block groove, and pin block 9 has 12 rollers become cliding frictions to make structure more dexterous into friction of rolling.
As the cooperation schematic diagram that Fig. 4 is objective body of the present invention and butt junction;
If Fig. 4-1 is the integral structure schematic diagram that butt junction 1 is slided along circular cone sleeve 4; Fig. 4-2 is that the B-B of Fig. 4-1 is to cutaway view; Shown in figure 4-2, butt junction 1 slides to after circular cone sleeve 4 lowermost end touches objective body, the conical surface of butt junction front end edge circular cone sleeve 4 moves to frizzen, clash into bar 8 in frizzen, pin block roller is made to drive pin block 9 to be open, the release of main spring elastic potential energy drives whole frizzen to move along objective body inner chamber, meanwhile drives pulling claw to move along fixing shape face and clamps butt junction the action of prism.
In the present embodiment, mechanical arm rear base plate is connected with under-water robot wallboard by 16 screws, and mechanical arm is connected by six bolt and nuts with eight prism butt junctions; Objective body front end is the circular cone sleeve connected with four nuts, fix with annual spring in the groove four pulling claws being embedded drop bar tops, section screw before and after bar in shock is connected, then pulling claw internal trigger bar outer sleeve is positioned on the line pressure spring that is fixed on objective body inner chamber one end; Have the pin of spring to put into cotter slot end nut in cover fixedly to prevent from.
When the present embodiment uses, press, pin block is ejected in inside and outside sleeve and limits main pressing spring, making spring accumulate elastic potential energy, is now initial condition; When example carries out, butt junction is close to circular cone sleeve, circular cone sleeve imported cone the end frizzen in bar place, in clashing into, bar very easily pushes by the power-saving function on inclined-plane the pin block that lower end is roller open, frizzen drives pulling claw to shrink along the shape face of objective body shell, four pulling claws can limit the rotation of eight prisms, complete locked.
Two parts of docking locking mechanism of the present invention are respectively extension bar and objective body, and be fixed on a wall of under-water robot extension bar, objective body carries locking mechanism and swims in water.Be made up of mechanical arm and butt junction extension bar, butt junction is that eight prisms make objective body catch it for trigger target body.Circular cone sleeve is a circular cone sleeve is fixed on cylinder objective body front end by screw, and circular cone sleeve bottom is frizzen; Frizzen is sleeve-type, has inclined-plane and ride against on two pin blocks bottom interior bar, puts aside elastic potential energy utilize friction force that pin block can not be regained the while that outer bar being connected with main spring due to main spring; Have bottom pin block between roller and frizzen for friction of rolling and in have stage clip to make it rebound; Pulling claw forms afterbody by four calvus and utilizes the groove on frizzen and annual spring to fix, and utilize the shape face designed inside objective body shell to complete contraction, and the shape of four calvus and the prism of butt junction is corresponding certainly can correct position, and inhibit and relatively rotate.
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (8)
1. mechanical type dexterity docking locking mechanism, it is characterized in that: comprise extension bar and objective body (3), be fixed on the wall of under-water robot to extension bar, objective body (3) swims in water, extension bar is made up of interconnective mechanical arm (2) and butt junction (1), objective body (3) is made up of circular cone sleeve (4), pulling claw (7), frizzen and pin block (9), is completed catch with locked to butt junction (1) by objective body;
Described circular cone sleeve (4) is fixed on objective body front end, frizzen is arranged on circular cone sleeve (4) rear, the telescoping structure that described frizzen is made up of bar (8) in frizzen outer sleeve (6) and frizzen, in frizzen, bar (8) terminal edge is provided with inclined-plane, pin block (9) is arranged with the axial vertical of frizzen, the upper cover of pin block (9) has pin block spring (13), and pin block (9) bottom is by roller (12) and bar (8) end inclined-plane moving contact in frizzen; The upper cover of frizzen outer sleeve (6) has main pressing spring (10), and main pressing spring (10) one end is supported on objective body shell (5), and the boss on the other end and frizzen outer sleeve (6) offsets; Pulling claw (7) middle part is hinged with frizzen outer sleeve (6), pulling claw (7) afterbody draws in fixing by annual spring (11), pulling claw (7) front portion is opened corresponding with circular cone sleeve (4) position;
After butt junction (1) touches objective body (3), the conical surface of butt junction (1) front end edge circular cone sleeve (4) moves to frizzen, clash into bar (8) in frizzen, pin block (9) roller is open along bar in frizzen (8) end inclined-plane slip band untie-sell block, the release of main pressing spring (10) elastic potential energy promotes whole frizzen and moves along objective body inner chamber, drive pulling claw (7) to move along the fixing shape face in objective body shell (5), pulling claw (7) front portion closes up and clamps butt junction (1) simultaneously.
2. mechanical type dexterity docking locking mechanism according to claim 1, it is characterized in that: described butt junction (1) is eight prisms, pulling claw (7) is made up of four calvus; The shape of four calvus is corresponding with butt junction prism.
3. mechanical type dexterity docking locking mechanism according to claim 2, it is characterized in that: described butt junction (1) eight prism head is provided with the conical surface, mechanical arm (2) and butt junction (1) are connected by screw.
4. the mechanical type dexterity docking locking mechanism according to any one of claim 1-3, is characterized in that: described mechanical arm (2) is simple joint rotating mechanism.
5. the mechanical type dexterity docking locking mechanism according to any one of claim 1-3, is characterized in that: described circular cone sleeve (4) is fixed on the front end of objective body (3) by screw.
6. the mechanical type dexterity docking locking mechanism according to any one of claim 1-3, is characterized in that: described objective body (3) entirety is cylindrical shape.
7. the mechanical type dexterity docking locking mechanism according to any one of claim 1-3, is characterized in that: described pin block (9) is fixed in the cotter way that objective body shell (5) formed by overcoat pin block spring (13).
8. the mechanical type dexterity docking locking mechanism according to any one of claim 1-3, is characterized in that: in described frizzen, bar (8) is made up of front and back two parts, and two parts are threaded connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510028555.1A CN104648636B (en) | 2015-01-20 | 2015-01-20 | The dexterous docking locking mechanism of mechanical type |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510028555.1A CN104648636B (en) | 2015-01-20 | 2015-01-20 | The dexterous docking locking mechanism of mechanical type |
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| Publication Number | Publication Date |
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| CN104648636A true CN104648636A (en) | 2015-05-27 |
| CN104648636B CN104648636B (en) | 2017-03-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510028555.1A Active CN104648636B (en) | 2015-01-20 | 2015-01-20 | The dexterous docking locking mechanism of mechanical type |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107356671A (en) * | 2017-07-14 | 2017-11-17 | 北京欧宁航宇检测技术有限公司 | Full-automatic unmannedization subway or subway track detection method |
| CN108502101A (en) * | 2018-02-13 | 2018-09-07 | 上海大学 | A kind of water sampler docking facilities for unmanned boat |
| CN109292058A (en) * | 2018-11-08 | 2019-02-01 | 天津深之蓝海洋设备科技有限公司 | A kind of latch mechanism and underwater robot lay recovery system |
| CN109436240A (en) * | 2018-12-20 | 2019-03-08 | 中国船舶重工集团公司七五0试验场 | A kind of underwater robot recycling cone rod-type docking traction mechanism |
| CN110294091A (en) * | 2019-06-14 | 2019-10-01 | 哈尔滨工程大学 | A kind of carrying docking facilities between underwater research vehicle |
| CN111232162A (en) * | 2020-03-04 | 2020-06-05 | 鹏城实验室 | Docking device and underwater robot recovery equipment |
| CN115042943A (en) * | 2022-06-19 | 2022-09-13 | 西北工业大学 | Dynamic docking and recovering device of underwater vehicle with variable structure |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107356671A (en) * | 2017-07-14 | 2017-11-17 | 北京欧宁航宇检测技术有限公司 | Full-automatic unmannedization subway or subway track detection method |
| CN107356671B (en) * | 2017-07-14 | 2019-11-12 | 北京欧宁航宇检测技术有限公司 | Full-automatic unmannedization subway or subway track detection method |
| CN108502101A (en) * | 2018-02-13 | 2018-09-07 | 上海大学 | A kind of water sampler docking facilities for unmanned boat |
| CN109292058A (en) * | 2018-11-08 | 2019-02-01 | 天津深之蓝海洋设备科技有限公司 | A kind of latch mechanism and underwater robot lay recovery system |
| CN109292058B (en) * | 2018-11-08 | 2024-04-26 | 深之蓝海洋科技股份有限公司 | Ram locking mechanism and underwater robot cloth recycling system |
| CN109436240A (en) * | 2018-12-20 | 2019-03-08 | 中国船舶重工集团公司七五0试验场 | A kind of underwater robot recycling cone rod-type docking traction mechanism |
| CN110294091A (en) * | 2019-06-14 | 2019-10-01 | 哈尔滨工程大学 | A kind of carrying docking facilities between underwater research vehicle |
| CN111232162A (en) * | 2020-03-04 | 2020-06-05 | 鹏城实验室 | Docking device and underwater robot recovery equipment |
| CN115042943A (en) * | 2022-06-19 | 2022-09-13 | 西北工业大学 | Dynamic docking and recovering device of underwater vehicle with variable structure |
| CN115042943B (en) * | 2022-06-19 | 2023-10-27 | 西北工业大学 | Dynamic docking recovery device of underwater vehicle with variable structure |
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| CN104648636B (en) | 2017-03-15 |
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