CN107061432B - Hydraulic locking apparatus and its locking method for underwater mating axial workpiece - Google Patents
Hydraulic locking apparatus and its locking method for underwater mating axial workpiece Download PDFInfo
- Publication number
- CN107061432B CN107061432B CN201710177884.1A CN201710177884A CN107061432B CN 107061432 B CN107061432 B CN 107061432B CN 201710177884 A CN201710177884 A CN 201710177884A CN 107061432 B CN107061432 B CN 107061432B
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- Prior art keywords
- hydraulic
- axial workpiece
- locking
- terminal pad
- feed mechanism
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- 230000013011 mating Effects 0.000 title claims abstract description 17
- 238000000034 method Methods 0.000 title claims abstract description 7
- 230000007246 mechanism Effects 0.000 claims abstract description 56
- 239000010720 hydraulic oil Substances 0.000 claims abstract description 18
- 238000001514 detection method Methods 0.000 claims abstract description 15
- 230000008878 coupling Effects 0.000 claims abstract description 8
- 238000010168 coupling process Methods 0.000 claims abstract description 8
- 238000005859 coupling reaction Methods 0.000 claims abstract description 8
- 238000003032 molecular docking Methods 0.000 claims abstract description 8
- 230000007704 transition Effects 0.000 claims description 10
- 238000012360 testing method Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 4
- 239000012530 fluid Substances 0.000 claims description 4
- 238000011897 real-time detection Methods 0.000 claims description 2
- 239000007788 liquid Substances 0.000 claims 1
- 230000001141 propulsive effect Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 239000002828 fuel tank Substances 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
- F16B2200/00—Constructional details of connections not covered for in other groups of this subclass
- F16B2200/89—Use of a hydraulic action
Abstract
The invention discloses a kind of hydraulic locking apparatus and its locking method for underwater mating axial workpiece, device includes bracket institution, hydraulic oil device, hydraulic-feed mechanism, angle detection device, pressure-detecting device and host computer, wherein, the bracket institution includes upper shaft sleeve, engaging lug, connection frame and terminal pad, axial workpiece outer wall passes through bearing and upper shaft sleeve rotation support connection, engaging lug is connected on the outer wall of upper shaft sleeve, the connection of one end of engaging lug and connection frame, the connection frame other end is fixedly connected with the terminal pad rear support in the bottom, the center of terminal pad is axial workpiece, circumferential direction on the disk week of terminal pad around axial workpiece is uniformly arranged several hydraulic-feed mechanisms, the axial workpiece can be locked or be unclamped by several hydraulic-feed mechanisms.Apparatus of the present invention can ensure that each hydraulic-feed mechanism applies enough coupling mechanism forces to axial workpiece, to realize that the locking of underwater different-diameter large size docking axial workpiece provides guarantee.
Description
Technical field
The present invention relates to a kind of underwater mating hydraulic locking apparatus.
Background technique
Autonomous Underwater Vehicle（Abbreviation AUV）It plays an important role in fields such as deep-sea detecting, underwater constructions, but
It is the limited energy carried due to its own, it is difficult to continuous work for a long time under water, it usually needs salvage disembarkation and is filled
Electricity.And underwater mating hydraulic locking apparatus can be docked with AUV, then carry out charging and data exchange, extend the work of AUV
The industry time.Since current direction changes often in ocean, for the docking success rate for guaranteeing AUV and docking facilities, docking need to be adjusted
Device opening direction is consistent it with current direction, needs to lock the shaft of docking facilities after completing angle adjustment
Tightly fix its angle position.Therefore axial workpiece locking device is butted into adjustment docking facilities opening direction and raising
Power has a very important role.
Axial workpiece is component common in mechanized equipment, and many heavy mechanical equipments usually require to change by rotating
Self-position is to realize corresponding function, therefore these equipment can include the axis that can be rotated freely.It completes to rotate in equipment
After reaching corresponding angle position, it usually needs relevant apparatus locks its axial workpiece, so that its position is fixed.Needle
To the mechanical equipment for including the axial workpiece that major diameter is placed vertically, need to be locked using biggish power, further, since
Axial workpiece outer surface is rounded, and relative to rectangular member, more easily there is a phenomenon where locking devices and axial workpiece virtual connection to touch.
Therefore, the locking device for being specifically applied to different-diameter axial workpiece is developed, axial workpiece position is realized for associated machines
Fixation is set to have great importance.
Currently, the device for being suitable for the axial workpiece locking that major diameter is placed vertically is seldom.Application No. is
CN201410730024.2, the patent document of entitled " axle bed hydraulic-feed mechanism " are by way of mandril pressuring spring piece
Axle bed is locked；Patent No. ZL201310594149.2, the patent document of entitled " locking device " is to pass through fixation
Firmly locking nut is realized the purpose of bearing locking；Patent No. ZL201480001472.7, entitled " locking device " it is special
Sharp file is the locking realized by the resilient clamp portion of device center two sides to conduit.The technical approach of the above patent and application
Object is different from this patent.
Summary of the invention
The purpose of the present invention is to provide a kind of a kind of axial workpiece locking device suitable for different-diameter axial workpiece,
Locking device locks axial workpiece by several hydraulic-feed mechanisms, and pressure sensor is to each hydraulic-feed mechanism
Coupling mechanism force detected, it is ensured that the accurate locking to axial workpiece.
The purpose of the present invention is what is be achieved through the following technical solutions：
A kind of hydraulic locking apparatus for underwater mating axial workpiece, including bracket institution, hydraulic oil device, hydraulic thrust
Into mechanism, angle detection device, pressure-detecting device and host computer, wherein
The bracket institution includes upper shaft sleeve, engaging lug, connection frame and terminal pad, axial workpiece outer wall by bearing with
Upper shaft sleeve rotation support connects, and engaging lug, one end connection of engaging lug and connection frame, connection are connected on the outer wall of upper shaft sleeve
The frame other end is fixedly connected with the terminal pad rear support in the bottom, and the center of terminal pad is axial workpiece, on the disk week of terminal pad
Several hydraulic-feed mechanisms are uniformly arranged around the circumferential direction of axial workpiece, several hydraulic-feed mechanisms can be by the axis class zero
Part locking is unclamped；
Each hydraulic-feed mechanism passes through solenoid directional control valve and connect with hydraulic oil device；
The hydraulic-feed mechanism includes：Hydraulic motor, gear drive, screw pair and latch segment；Wherein,
The transmission shaft of hydraulic motor is sequentially connected by gear drive and screw pair, the pair of nut and lock on screw pair
Tight block is fixedly connected；
The angle detection device is arranged on upper brace, for the angle position where real-time detection axial workpiece；
The pressure-detecting device is set in the hydraulic circuit of each hydraulic-feed mechanism；
The slave computer and the hydraulic oil device, solenoid directional control valve, angle detection device and pressure-detecting device control
System connection.
The hydraulic-feed mechanism includes four, and four hydraulic-feed mechanisms are in terminal pad each other in 90 ° of angle arrangements.
The latch segment includes：Two clamping jaws, the plate being connected between two clamping jaws and transition cylindrical piece, each folder
It is in 135 ° of angles between pawl and plate, plate is connected by bolt with transition cylindrical piece, and transition cylindrical piece is embedded in feed screw nut
In secondary pair of nut.
Gearcase is equipped with outside the gear drive, hydraulic motor and screw pair are distributed in the gearcase two
Side is simultaneously connected by bolt with gearcase；The transmission shaft of hydraulic motor passes through the driving gear in gearcase and gear drive
It is connected by key, the driven gear in gear drive is connected with lead screw by key, is provided with and is used for and terminal pad on gearcase
Bolted threaded hole.
The terminal pad includes disk and chassis, and disk is fixedly connected on the most bottom of Underwater Docking Device by connection frame
Portion is fastened by bolts part on disk and connects the chassis.
The chassis includes top bottom-disc and low bottom-disc, is attached between top bottom-disc and low bottom-disc by bolt, low bottom-disc
It is equipped with bolt connecting hole.
The angle detection device is electronic compass.
The pressure-detecting device is pressure sensor.
The invention also discloses a kind of locking sides based on the hydraulic locking apparatus for underwater mating axial workpiece
Method, including following steps：
The first step, upper brace drive axial workpiece rotation, and angle detection device adjusts the angle axial workpiece and carries out in fact
When detect, and will test signal and be sent to slave computer；
Second step, when the next machine testing to axial workpiece complete angle adjustment after need to carry out axial workpiece locking make it
When angle position is fixed, slave computer sends instructions to hydraulic oil device, and hydraulic oil is injected into fluid pressure line by hydraulic oil device,
Meanwhile solenoid directional control valve is opened, several hydraulic-feed mechanisms in terminal pad simultaneously lock axial workpiece；
Third step, after completing locking, the hydraulic motor in hydraulic-feed mechanism stops operating, pressure-detecting device detection
Pressure signal is transferred to slave computer, shown on slave computer by the operating pressure in the hydraulic circuit of each hydraulic-feed mechanism
The coupling mechanism force of each latch segment, facilitates operator to read, if empty contact phenomena or locking occur for some hydraulic-feed mechanism
Power is insufficient, then the locking force value of its display can be smaller, controls solenoid directional control valve to the position of latch segment by slave computer at this time
It is finely adjusted, it is ensured that the accurate locking to axial workpiece.
The advantages of technical solution of the present invention, is mainly reflected in：
1, the hydraulic-feed mechanism in the present apparatus is slowed down by gear drive, screw pair Liang Ge mechanism,
It locks latch segment with lower speed, so that hydraulic system is accurately adjusted the position of latch segment, but also increase lock
Tight block can meet requirement of the macrotype axes series parts to coupling mechanism force to the coupling mechanism force of axial workpiece；
2, the latch segment dismounting of the present apparatus is very convenient, for the axial workpiece of different-diameter, only needs to change latch segment i.e.
Locking can be achieved, expand the application range of locking device, meet the locking requirement of different-diameter axial workpiece；
3, multiple hydraulic-feed mechanisms of this locking device are arranged circumferentially in same level around axial workpiece, more
A hydraulic-feed mechanism moves simultaneously, locks totally 8 clamping jaws on four latch segments to axial workpiece, overcomes single
Mechanism is easy that the problem of virtual connection touching or slipping phenomenon occurs with axial workpiece；
4, there is pressure sensor to the lock of hydraulic-feed mechanism on multiple hydraulic-feed mechanism hydraulic circuits of the device
Clamp force is detected, is controlled, and is avoided that virtual connection touching occurs or is locked hypodynamic phenomenon, it is ensured that the accurate locking to axial workpiece.
Detailed description of the invention
Fig. 1 is the top view of locking device；
Fig. 2 is the main view of locking device；
Fig. 3 is the cross-sectional view of single hydraulic-feed mechanism；
Fig. 4 is the position view and hydraulic schematic diagram of pressure sensor；
Fig. 5 is axial workpiece schematic diagram and the electronic compass location drawing；
Fig. 6 is slave computer control circuit schematic diagram.
Wherein, 1 is latch segment；2 be transition cylindrical piece；3 be screw pair；4 be driving gear；5 be driven gear；
（6,11,12,13）For gearcase；7 be hydraulic motor；8 be top bottom-disc；9 be low bottom-disc；10 be mounting base；14 is 15 are nut
It is secondary；16 be sleeve；17 be lead screw；18 be filter；19 be motor；20 be plunger pump；21 be check valve；22 be electromagnetic switch
Valve；23 be pressure sensor；24 be overflow valve；25 be fuel tank；26 be disk；27 be axial workpiece；28 be platform；29 be electronics
Compass.
Specific embodiment
Combined with specific embodiments below and Figure of description is described in more detail technical solution of the present invention.
As shown in figure 5, shown, the top of axial workpiece 27 is connected with platform 28, and electronic compass 29 is mounted on axial workpiece
Top, slave computer is sent for the angle signal of platform 28 by cable in real time.
The bottom of axial workpiece 27 rotates freely, and is located on disk 26.Chassis is fastened by bolts part and is fixed on
On disk 26.
Chassis upper surface along disk week be symmetrical arranged 4 hydraulic-feed mechanisms, each hydraulic-feed mechanism include latch segment 1,
Transition cylindrical piece 2, screw pair 3, driving gear 4, driven gear 5, gearcase 6, hydraulic motor 7.
Latch segment 1 is connected by bolt with transition cylindrical piece 2, and transition cylindrical piece 2 is in pair of nut 15 and passes through positioning
Pin is fixed, so that latch segment 1 be made to be fixed on 15 front end of pair of nut, hydraulic motor 7 and screw pair 3 are distributed in gearcase 6
Two sides are simultaneously connected by bolt with gearcase 6, and hydraulic motor 7 is connected with driving gear 4 by key, lead screw 17 and driven gear 5
Equally it is connected by key, is sleeve 16 on the outside of lead screw 17, sleeve 16 is attached with gearcase 6 by bolt, lead screw 17, nut
Pair 15, sleeve 16 collectively form screw pair 3.
As further limiting for technical solution of the present invention, the chassis includes top bottom-disc 8 and low bottom-disc 9, top bottom-disc 8,
It is attached with low bottom-disc 9 by bolt, low bottom-disc 9 is provided with through-hole, and part is bolted and is connected with disk 26.
It is provided with threaded hole on the gearcase 6 of hydraulic-feed mechanism, is mounting base 10, gearcase 6, installation on the outside of gearcase 6
Seat 10 is bolted on the top bottom-disc 8 for being fixed on locking device.
Pressure sensor 23, which is connected through a screw thread, to be directly installed among 4 hydraulic circuits, when need to axial workpiece into
When row locking, motor 19 drives plunger pump 20 to be injected into hydraulic oil in fluid pressure line through filter 18 from fuel tank 25, check valve
21 prevent hydraulic oil from flowing back, and the effect of overflow valve 24 is the maximum working pressure (MWP) of setting system.
The invention discloses a kind of locking method based on the hydraulic locking apparatus for underwater mating axial workpiece,
Including following steps：
The first step, upper brace drive axial workpiece rotation, and angle detection device adjusts the angle axial workpiece and carries out in fact
When detect, and will test signal and be sent to slave computer；
Second step, when the next machine testing to axial workpiece complete angle adjustment after need to carry out axial workpiece locking make it
When angle position is fixed, slave computer sends instructions to hydraulic oil device, and hydraulic oil is injected into fluid pressure line by hydraulic oil device,
Meanwhile solenoid directional control valve is opened, several hydraulic-feed mechanisms in terminal pad simultaneously lock axial workpiece；
Third step, after completing locking, the hydraulic motor in hydraulic-feed mechanism stops operating, pressure-detecting device detection
Pressure signal is transferred to slave computer, shown on slave computer by the operating pressure in the hydraulic circuit of each hydraulic-feed mechanism
The coupling mechanism force of each latch segment, facilitates operator to read, if empty contact phenomena or locking occur for some hydraulic-feed mechanism
Power is insufficient, then the locking force value of its display can be smaller, controls solenoid directional control valve to the position of latch segment by slave computer at this time
It is finely adjusted, it is ensured that the accurate locking to axial workpiece.
Claims (9)
1. a kind of hydraulic locking apparatus for underwater mating axial workpiece, which is characterized in that filled including bracket institution, hydraulic oil
It sets, hydraulic-feed mechanism, angle detection device, pressure-detecting device and slave computer, wherein
The bracket institution includes upper shaft sleeve, engaging lug, connection frame and terminal pad, and axial workpiece outer wall passes through bearing and top
Axle sleeve rotation support connection, connects engaging lug on the outer wall of upper shaft sleeve, and one end of engaging lug and connection frame connects, and connection frame is another
One end is fixedly connected with the terminal pad rear support in the bottom, and the center of terminal pad is axial workpiece, around axis on the disk week of terminal pad
The circumferential direction of class part is uniformly arranged several hydraulic-feed mechanisms, and several hydraulic-feed mechanisms can lock the axial workpiece
Tight or release；
Each hydraulic-feed mechanism passes through solenoid directional control valve and connect with hydraulic oil device；
The hydraulic-feed mechanism includes：Hydraulic motor, gear drive, screw pair and latch segment；Wherein, hydraulic
The transmission shaft of motor is sequentially connected by gear drive and screw pair, the pair of nut and latch segment on screw pair
It is fixedly connected；
The angle detection device is arranged on upper brace, for the angle position where real-time detection axial workpiece；
The pressure-detecting device is set in the hydraulic circuit of each hydraulic-feed mechanism；
The slave computer and the hydraulic oil device, solenoid directional control valve, angle detection device and pressure-detecting device control connect
It connects.
2. the hydraulic locking apparatus according to claim 1 for underwater mating axial workpiece, which is characterized in that the liquid
Pressing propulsive mechanism includes four, and four hydraulic-feed mechanisms are in terminal pad each other in 90 ° of angle arrangements.
3. the hydraulic locking apparatus according to claim 1 for underwater mating axial workpiece, it is characterised in that：The lock
Tightly block includes：Two clamping jaws, the plate being connected between two clamping jaws and transition cylindrical piece, between each clamping jaw and plate
In 135 ° of angles, plate is connected by bolt with transition cylindrical piece, and transition cylindrical piece is embedded in the pair of nut of screw pair.
4. the hydraulic locking apparatus according to claim 1 for underwater mating axial workpiece, it is characterised in that：The tooth
Be equipped with gearcase outside wheel drive mechanism, hydraulic motor and screw pair be distributed in the gearcase two sides and by bolt with
Gearcase is connected；The transmission shaft of hydraulic motor passes through gearcase and is connected with the driving gear in gear drive by key, tooth
Driven gear in wheel drive mechanism is connected with lead screw by key, be provided on gearcase for the bolted screw thread of terminal pad
Hole.
5. the hydraulic locking apparatus according to claim 1 for underwater mating axial workpiece, which is characterized in that the company
Connecing disk includes disk and chassis, and disk is fixedly connected on the bottommost of Underwater Docking Device by connection frame, passes through spiral shell on disk
Bolt fastener connects the chassis.
6. the hydraulic locking apparatus according to claim 5 for underwater mating axial workpiece, it is characterised in that：The bottom
Disk includes top bottom-disc and low bottom-disc, is attached between top bottom-disc and low bottom-disc by bolt, and low bottom-disc is equipped with and is bolted
Hole.
7. the hydraulic locking apparatus according to claim 1 for underwater mating axial workpiece, which is characterized in that the angle
Degree detection device is electronic compass.
8. the hydraulic locking apparatus according to claim 1 for underwater mating axial workpiece, which is characterized in that the pressure
Force checking device is pressure sensor.
9. a kind of locking method based on the hydraulic locking apparatus for being used for underwater mating axial workpiece described in claim 1, special
Sign is, including following steps：
The first step, upper brace drive axial workpiece rotation, and angle detection device examines axial workpiece adjustment angle in real time
It surveys, and will test signal and be sent to slave computer；
Second step, when the next machine testing to axial workpiece complete angle adjustment after need to carry out axial workpiece locking make its angle
When position is fixed, slave computer sends instructions to hydraulic oil device, and hydraulic oil is injected into fluid pressure line by hydraulic oil device, together
When, solenoid directional control valve is opened, and several hydraulic-feed mechanisms in terminal pad simultaneously lock axial workpiece；
Third step, after completing locking, the hydraulic motor in hydraulic-feed mechanism stops operating, and pressure-detecting device detection is each
Pressure signal is transferred to slave computer, shown on slave computer each by the operating pressure in the hydraulic circuit of hydraulic-feed mechanism
The coupling mechanism force of latch segment, facilitates operator to read, if empty contact phenomena or coupling mechanism force occur for some hydraulic-feed mechanism not
Foot, then the locking force value of its display can be smaller, controls solenoid directional control valve by slave computer at this time and carries out to the position of latch segment
Fine tuning, it is ensured that the accurate locking to axial workpiece.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710177884.1A CN107061432B (en) | 2017-03-23 | 2017-03-23 | Hydraulic locking apparatus and its locking method for underwater mating axial workpiece |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710177884.1A CN107061432B (en) | 2017-03-23 | 2017-03-23 | Hydraulic locking apparatus and its locking method for underwater mating axial workpiece |
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| Publication Number | Publication Date |
|---|---|
| CN107061432A CN107061432A (en) | 2017-08-18 |
| CN107061432B true CN107061432B (en) | 2018-11-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710177884.1A Active CN107061432B (en) | 2017-03-23 | 2017-03-23 | Hydraulic locking apparatus and its locking method for underwater mating axial workpiece |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107575684B (en) * | 2017-08-26 | 2019-09-27 | 徐海燕 | A method of for preventing press fluid pressure line pipe fitting from loosening |
| CN110657151A (en) * | 2019-09-24 | 2020-01-07 | 哈尔滨电气动力装备有限公司 | Locking device for locking cup |
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| WO2016087671A1 (en) * | 2014-12-05 | 2016-06-09 | Saipem S.P.A. | Underwater engagement of tubular members |
| CN205660746U (en) * | 2016-05-31 | 2016-10-26 | 成都杰仕德科技有限公司 | Clamping jaw device |
| CN106112576A (en) * | 2016-07-20 | 2016-11-16 | 荣成锻压机床有限公司 | A kind of horizontal lathe closed center rest |
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2017
- 2017-03-23 CN CN201710177884.1A patent/CN107061432B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102398131A (en) * | 2010-09-10 | 2012-04-04 | 中国石油化工股份有限公司 | Vertical pipe jointing device for expansion corrugated pipes and pipe jointing welding method |
| CN104227149A (en) * | 2014-09-30 | 2014-12-24 | 南车戚墅堰机车车辆工艺研究所有限公司 | Shaft gear quick positioning and clamping device and method |
| CN204339346U (en) * | 2014-11-25 | 2015-05-20 | 西安航空职业技术学院 | Longaxones parts automatic clamping fixture |
| WO2016087671A1 (en) * | 2014-12-05 | 2016-06-09 | Saipem S.P.A. | Underwater engagement of tubular members |
| CN104944286A (en) * | 2015-04-29 | 2015-09-30 | 武汉船用机械有限责任公司 | Underwater working unit butting and releasing device |
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| CN107061432A (en) | 2017-08-18 |
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