CN107351125A - The detachable attachment mechanism of manipulator on a kind of underwater robot - Google Patents
The detachable attachment mechanism of manipulator on a kind of underwater robot Download PDFInfo
- Publication number
- CN107351125A CN107351125A CN201710670062.7A CN201710670062A CN107351125A CN 107351125 A CN107351125 A CN 107351125A CN 201710670062 A CN201710670062 A CN 201710670062A CN 107351125 A CN107351125 A CN 107351125A
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- China
- Prior art keywords
- installation set
- set cylinder
- cylinder base
- base
- installation
- Prior art date
- Legal status (The legal status 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 status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
- B25J19/0083—Means for protecting the manipulator from its environment or vice versa using gaiters
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of detachable attachment mechanism that can easily by mechanical connection with manipulator on the underwater robot for electrically connecting while departing from,Including the installation set cylinder base being arranged on underwater human body,Cable socket is provided with installation set cylinder base,Activity is embedded with hollow connection base of mechanical hand in installation set cylinder base,Connection base of mechanical hand is located in periphery on the part in installation set cylinder base and is provided with installation groove,Two driving fixture blocks and at least two transmission fixture blocks are provided with installation groove,In installation groove steel ball is designed between driving fixture block and transmission fixture block and between adjacent two transmission fixture blocks,Installation set cylinder base is provided between two driving fixture blocks of insertion so that all steel balls are compressed partially into latch recess so that the actuator that connection base of mechanical hand links together with installation set cylinder base,The power set of driving actuator are additionally provided with installation set cylinder base,The cable plug being engaged with cable socket is provided with connection base of mechanical hand.
Description
Technical field
The present invention relates to a kind of detachable attachment mechanism of manipulator on underwater robot.
Background technology
Equipped with the underwater robot of underwater manipulator, in operation process, underwater manipulator may be by pasture and water, fishing
Net, hawser are snarled or blocked by underwater stone, and then cause underwater robot not float, now, free rapidly manipulator with
It is unique channel that underwater robot is saved oneself to ensure underwater human body to float.Patent No. 201210404590.5
A kind of referred to as kickoff mechanism of the patent document design of " Underwater electromechanical removal device ", is divided into machinery by the process of freeing of manipulator
Separation and cable pull two parts, and space-consuming is larger.Patent No. 201210140056.8 is entitled, and " Pneumatic driving type is underwater
The kickoff mechanism of the patent document design of the detachable attachment mechanism of manipulator in robot ", using the gases at high pressure in gas cylinder
As power source, action is freed in driving, because the air pressure of power source needs additionally to overcome the pressure of extraneous seawater, so power source
Air pressure had a great influence by working depth, especially when working depth is larger, due to need elevated pressures are filled with gas cylinder
Gas, so add on the bank install gas cylinder during danger.
The content of the invention
The technical problems to be solved by the invention are：There is provided one kind will easily can mechanically connect with electrically connecting while departing from
Underwater robot on manipulator detachable attachment mechanism.
In order to solve the above technical problems, the technical solution adopted in the present invention is：Manipulator on a kind of underwater robot
Detachable attachment mechanism, including the installation set cylinder base being arranged on underwater human body, inserted provided with cable in installation set cylinder base
Seat, cable socket are movable in installation set cylinder base to be embedded with hollow manipulator company by being sealed between vulcanizate and installation set cylinder base
Joint chair, connection base of mechanical hand are located in periphery on the part in installation set cylinder base and are provided with installation groove, and two are provided with installation groove
Individual driving fixture block and at least two transmission fixture blocks, in installation groove between driving fixture block and transmission fixture block and adjacent two biographies
Be designed with steel ball between dynamic fixture block, driving fixture block and to be driven fixture block be the arc block being engaged with installation groove, and drive fixture block with
The both ends of transmission fixture block are all arc surface, and installation set cylinder base inwall is provided with the latch recess being engaged with steel ball, latch recess
Depth be less than 2/3 steel ball radius, driving fixture block and be driven the thickness of fixture block and be more than latch recess width, on installation set cylinder base
Provided with insertion two driving fixture blocks between so that all steel balls are compressed partially into latch recess so that connection base of mechanical hand and installation
The actuator that receiver links together, the power set of driving actuator, connection base of mechanical hand are additionally provided with installation set cylinder base
In be provided with the cable plug that is engaged with cable socket.
Further technical problem to be solved is the present invention：There is provided a kind of is influenceed small underwater robot by working depth
The detachable attachment mechanism of upper manipulator.
To solve above-mentioned further technical problem, the technical solution adopted in the present invention is：The power set include with
The pressure-bearing cylinder that installation set cylinder base is connected, pressure-bearing cylinder include cylinder, drive end bearing bracket, the rear end cap to link together, are provided with cylinder
Motor, rotate in drive end bearing bracket and be provided with leading screw, the force-output shaft of motor is connected with leading screw, and pilot hole, the drive are provided with drive end bearing bracket
The sealing of moving part one end is located in pilot hole, screwed hole is provided with the actuator, leading screw end is located in screwed hole, rear end
Cover provided with being used for the check valve that is vacuumized in pressure-bearing cylinder, cylinder is provided with watertight head, and the cable of the motor is from watertight
Passed in head, the vulcanizate seal of hermetically-sealed cable is provided with watertight head.
As a kind of preferable scheme, sealing plate is arranged with installation set cylinder base bottom on the connection base of mechanical hand, it is close
The surface of face installation set cylinder base is provided with sealing ring on shrouding, is also set on the part that sealing plate is in contact with connection base of mechanical hand
There is a sealing ring, sealing plate is provided with part that four top pressure connection base of mechanical hand are located at outside installation set cylinder base so that sealing plate and peace
The top pressure bolt sealed between sleeved seat board.
As a kind of preferable scheme, sealing ring is provided between the actuator and installation set cylinder base.
As a kind of preferable scheme, sealed between the connection base of mechanical hand and cable plug by vulcanizate.
As a kind of preferable scheme, the motor force-output shaft end cross-sectional is rectangular, is provided with the leading screw corresponding
Rectangular opening.
As a kind of preferable scheme, the actuator is provided with trigger member, is provided with and trigger member phase in the drive end bearing bracket
The transmission signal of cooperation leaves the motor off the proximity switch of rotation.
The beneficial effects of the invention are as follows：Due to being provided with cable socket in installation set cylinder base, installation set cylinder base is provided with insertion
So that all steel balls are compressed partially into latch recess so that connection base of mechanical hand connects with installation set cylinder base between two driving fixture blocks
The actuator being connected together, the power set of driving actuator are additionally provided with installation set cylinder base, be provided with connection base of mechanical hand with
The cable plug that cable socket is engaged；Actuator need to only be retracted, manipulator is in the presence of gravity and twister, machine in addition
Power that device people moves upwards while act on, you can so that installation set cylinder base separates with connection base of mechanical hand, while cable plug and
Cable socket can also separate, and overall structure is simple, and separation is quick.
Because rear end cap is provided with the check valve being used for being vacuumized in pressure-bearing cylinder so that be vacuum shape inside pressure-bearing cylinder
State, when actuator is retracted, inside pressure-bearing cylinder will not because space reduces and pressure increases, and then there is actuator both sides pressure not
Deng situation, so as to reduce actuator action required for active force.
Because motor force-output shaft end cross-sectional is rectangular, corresponding rectangular opening is provided with the leading screw, enters action edge transmission,
Eliminate the structures such as shaft coupling, pre-loading screw.
Due to being driven using leading screw, under water during robot normal operation, actuator forms self-locking with lead screw shaft, from
And the driving fixture block, transmission fixture block and steel ball of actuator front end are reliably compressed, realize the fixation of manipulator.
Due to being arranged with sealing plate on connection base of mechanical hand in installation set cylinder base bottom, face installation set cylinder base on sealing plate
Surface be provided with sealing ring, sealing ring also is provided with the part that sealing plate is in contact with connection base of mechanical hand, is set on sealing plate
There is a part that four top pressure connection base of mechanical hand are located at outside installation set cylinder base so as to be sealed between sealing plate and installation sleeve seat board
Top pressure bolt, when installation set cylinder base separates with connection base of mechanical hand, sealing plate departs from together with connection base of mechanical hand, without gram
Take the frictional force of sealing ring so that separation is more easy.And before not separating, top pressure bolt plays two effects simultaneously, has both been machine
The fixed of tool hand connecting seat provides support force, and the sealing between sealing plate and installation set cylinder base again provides pretightning force.
Brief description of the drawings
Fig. 1 is the main view cross section structure diagram of the present invention.
Fig. 2 is the overlooking the structure diagram of the present invention.
Fig. 3 is the structural representation that actuator is located at lock-out state in the present invention.
Fig. 4 is the structural representation that actuator is located at released state in the present invention.
Fig. 5 is installation sleeve seating portion schematic diagram in the present invention.
Fig. 6 be connection base of mechanical hand in the present invention, sealing plate part disengaged from installation set cylinder base after schematic diagram.
Fig. 1 is into Fig. 6：1. installation set cylinder base, 2. cable sockets, 3. connection base of mechanical hand, 4. driving fixture blocks, 5. transmission cards
Block, 6. steel balls, 7. actuators, 8. sealing rings, 9. cylinders, 10. drive end bearing brackets, 11. rear end caps, 12. motors, 13. leading screws, 14. touch
Outbox, 15. proximity switches, 16. check valves, 17. watertight heads, 18. vulcanizate seals, 19. cable plugs, 20. sealing plates,
21. sealing ring, 22. sealing rings, 23. top pressure bolts.
Embodiment
Below in conjunction with the accompanying drawings, specific embodiments of the present invention are described in detail.
As shown in figures 1 to 6, on a kind of underwater robot manipulator detachable attachment mechanism, including be arranged on underwater
Installation set cylinder base 1 on human body, cable socket 2 is provided with installation set cylinder base 1, cable socket 2 passes through vulcanizate and installation set
Sealed between cylinder base 1, it is movable in installation set cylinder base 1 to be embedded with hollow connection base of mechanical hand 3.
Connection base of mechanical hand 3 is located in periphery on the part in installation set cylinder base 1 and is provided with installation groove.Set in installation groove
There are two driving fixture blocks 4 and two transmission fixture blocks 5, in installation groove between driving fixture block 4 and transmission fixture block 5 and adjacent two
Steel ball 6 is designed between individual transmission fixture block 5, it is the arc block being engaged with installation groove to drive fixture block 4 and be driven fixture block 5, and is driven
Dynamic fixture block 4 and the both ends for being driven fixture block 5 are all arc surface, and it is recessed that the inwall of installation set cylinder base 1 is provided with the locking being engaged with steel ball 6
Groove, the depth of latch recess are less than 2/3 radius of steel ball 6, and it is wide that driving fixture block 4 and the thickness for being driven fixture block 5 are more than latch recess
Degree.Installation set cylinder base 1 be provided with insertion two driving fixture blocks 4 between so that all steel balls 6 be compressed partially into latch recess so that
The actuator 7 that connection base of mechanical hand 3 links together with installation set cylinder base 1.Sealing is provided between actuator 7 and installation set cylinder base 1
Circle 8.
The power set of driving actuator 7 are additionally provided with installation set cylinder base 1.The power set include and installation set cylinder base
The 1 pressure-bearing cylinder being connected, pressure-bearing cylinder include cylinder 9, drive end bearing bracket 10, the rear end cap 11 to link together.Motor is provided with cylinder 9
12.Rotated in drive end bearing bracket 10 and be provided with leading screw 13, the force-output shaft of motor 12 is connected with leading screw 13.The force-output shaft end cross-sectional of motor 12
It is rectangular, corresponding rectangular opening is provided with the leading screw 13.
Pilot hole is provided with drive end bearing bracket 10, the one end of actuator 7 sealing is located in pilot hole, in the actuator 7
Provided with screwed hole, the end of leading screw 13 is located in screwed hole.Actuator 7 is provided with trigger member 14, is provided with the drive end bearing bracket 10
The proximity switch 15 that the transmission signal being engaged with trigger member 14 makes motor 12 stop operating.Rear end cap 11, which is provided with, to be used for holding
The check valve 16 vacuumized in pressure cylinder.Cylinder 9 is provided with watertight first 17, and the cable of the motor 12 is worn from watertight first 17
Go out, the vulcanizate seal 18 of hermetically-sealed cable is provided with watertight first 17.
The cable plug 19 being engaged with cable socket 2 is provided with connection base of mechanical hand 3.Connection base of mechanical hand 3 and cable
Sealed between plug 19 by vulcanizate.
It is arranged with sealing plate 20 on connection base of mechanical hand 3 in the bottom of installation set cylinder base 1, face installation sleeve on sealing plate 20
The surface of seat 1 is provided with sealing ring 21, and sealing ring 22 also is provided with the part that sealing plate 20 is in contact with connection base of mechanical hand 3,
Sealing plate 20 is provided with four top pressure connection base of mechanical hand 3 and be located at part outside installation set cylinder base 1 so that sealing plate 20 is with installing
The top pressure bolt 23 sealed between the plate of receiver 1.
Under underwater robot before water, actuator 7 is retracted, steel ball, driving fixture block 4, transmission fixture block 5 are installed to installation set
In installation groove on cylinder base 1, sealing plate 20 is arranged on installation set cylinder base 1, manipulator is held up, by connection base of mechanical hand 3
Top is inserted into installation set cylinder base 1, and promotion robot connecting seat 3 moves upwards, and completes the cable on connection base of mechanical hand 3
The connection of cable socket 2 in plug 19 and installation set cylinder base 1, then actuator 7 is driven to stretch out, so as to by the front end of actuator 7
It is inserted into the installation groove of connection base of mechanical hand 3, three steel balls is expressed on installation set cylinder base 1 and locked in groove, are completed
Suspension to connection base of mechanical hand 3, then four on screwing hermetic plate 20 top pressure bolt 23 so that push up the lower end of top pressure bolt 23
On connection base of mechanical hand 3, by connection base of mechanical hand 3 to the reaction force of top pressure bolt 23, sealing plate 20 is pressed in installation
On the bottom surface of receiver 1, end face seal is completed, by check valve 16 by vacuum state inside pressure-bearing cylinder, so far, is completed
Installation, pretension and the sealing of installation set cylinder base 1 and manipulator shoulder joint；
Under underwater robot after water, when needing to free manipulator, motor 12 rotates, and drives leading screw 13 to rotate, and pass through
Screw thread pair pulls actuator 7 to retract, and when actuator 7 moves in place, the trigger member 14 on actuator 7 leans against proximity switch 15
On, proximity switch 15 sends signal, and motor 12 stalls, now, inside installation set cylinder base 1, because actuator 7 is retracted, driving
Sealing between part 7 and installation set cylinder base 1 is released from, at the same time, after actuator 7 exits, in the installation of connection base of mechanical hand 3
Certain space is reserved in groove, so that driving fixture block 4, transmission fixture block 5 lose restraining force to three steel balls, due to machine
Tool hand is acted on by gravity and twister, and relative motion, three steel balls are produced between installation set cylinder base 1 and connection base of mechanical hand 3
Lock on installation set cylinder base 1 under groove walls promote and moved to the bottom of installation groove on connection base of mechanical hand 3, when three steel balls
When completely returning in the installation groove of connection base of mechanical hand 3, installation set cylinder base 1 loses suspension to connection base of mechanical hand 3 about
Beam so that connection base of mechanical hand 3, sealing plate 20 and manipulator depart from underwater robot sheet under gravity or external drag effect
Body, complete electromechanics and free.
The principle and its effect of the above embodiments only illustrative the invention, and the implementation that part uses
Example, not for the limitation present invention；It should be pointed out that for the person of ordinary skill of the art, wound of the present invention is not being departed from
On the premise of making design, various modifications and improvements can be made, these belong to protection scope of the present invention.
Claims (7)
- A kind of 1. detachable attachment mechanism of manipulator on underwater robot, it is characterised in that：Including being arranged on underwater robot Installation set cylinder base on body, cable socket is provided with installation set cylinder base, cable socket passes through between vulcanizate and installation set cylinder base Seal, movable in installation set cylinder base to be embedded with hollow connection base of mechanical hand, connection base of mechanical hand is located in installation set cylinder base Part on periphery be provided with installation groove, two driving fixture blocks and at least two transmission fixture blocks are provided with installation groove, installation is recessed Steel ball is designed between driving fixture block and transmission fixture block and between adjacent two transmission fixture blocks in groove, driving fixture block and transmission block Block is the arc block that is engaged with installation groove, and it is all arc surface to drive fixture block and be driven the both ends of fixture block, installation set cylinder base Inwall is provided with the latch recess being engaged with steel ball, and the depth of latch recess is less than 2/3 steel ball radius, drives fixture block and biography The thickness of dynamic fixture block is more than latch recess width, and installation set cylinder base is provided between two driving fixture blocks of insertion so that all steel ball quilts Portion extrusion enters latch recess so that the actuator that connection base of mechanical hand and installation set cylinder base link together, on installation set cylinder base The power set of driving actuator are additionally provided with, the cable plug being engaged with cable socket is provided with connection base of mechanical hand.
- 2. the detachable attachment mechanism of manipulator on a kind of underwater robot as claimed in claim 1, it is characterised in that：It is described Power set include the pressure-bearing cylinder being connected with installation set cylinder base, and pressure-bearing cylinder includes the cylinder, drive end bearing bracket, rear end to link together Cover, motor is provided with cylinder, is rotated in drive end bearing bracket and is provided with leading screw, the force-output shaft of motor is connected with leading screw, is provided with drive end bearing bracket Pilot hole, actuator one end sealing are located in pilot hole, screwed hole are provided with the actuator, leading screw end is located in In screwed hole, rear end cap is provided with the check valve being used for being vacuumized in pressure-bearing cylinder, and cylinder is provided with watertight head, the motor Cable is passed from watertight head, and the vulcanizate seal of hermetically-sealed cable is provided with watertight head.
- 3. the detachable attachment mechanism of manipulator on a kind of underwater robot as claimed in claim 1, it is characterised in that：It is described It is arranged with sealing plate on connection base of mechanical hand in installation set cylinder base bottom, the surface of face installation set cylinder base is provided with sealing plate Sealing ring, sealing ring also is provided with the part that sealing plate is in contact with connection base of mechanical hand, sealing plate is provided with four high pressure apparatuses Tool hand connecting seat is located at the part outside installation set cylinder base so that the top pressure bolt sealed between sealing plate and installation sleeve seat board.
- 4. the detachable attachment mechanism of manipulator on a kind of underwater robot as claimed in claim 1, it is characterised in that：It is described Sealing ring is provided between actuator and installation set cylinder base.
- 5. the detachable attachment mechanism of manipulator on a kind of underwater robot as any one of claim 1-4, it is special Sign is：Sealed between the connection base of mechanical hand and cable plug by vulcanizate.
- 6. the detachable attachment mechanism of manipulator on a kind of underwater robot as claimed in claim 2, it is characterised in that：It is described Motor force-output shaft end cross-sectional is rectangular, and corresponding rectangular opening is provided with the leading screw.
- 7. the detachable attachment mechanism of manipulator on a kind of underwater robot as claimed in claim 2, it is characterised in that：It is described Actuator is provided with trigger member, and being provided with the transmission signal being engaged with trigger member in the drive end bearing bracket leaves the motor off connecing for rotation Nearly switch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710670062.7A CN107351125B (en) | 2017-08-08 | 2017-08-08 | Detachable connecting mechanism of manipulator on underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710670062.7A CN107351125B (en) | 2017-08-08 | 2017-08-08 | Detachable connecting mechanism of manipulator on underwater robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107351125A true CN107351125A (en) | 2017-11-17 |
| CN107351125B CN107351125B (en) | 2020-08-04 |
Family
ID=60287233
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710670062.7A Active CN107351125B (en) | 2017-08-08 | 2017-08-08 | Detachable connecting mechanism of manipulator on underwater robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107351125B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113146679A (en) * | 2021-04-20 | 2021-07-23 | 哈尔滨工业大学 | Incomplete-constraint quick butt joint mechanism |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2107359U (en) * | 1991-12-10 | 1992-06-17 | 上海交通大学 | Piston plug type tool automatic changing device |
| WO2009059440A1 (en) * | 2007-11-07 | 2009-05-14 | Multi-Holding Ag | Plug and plug connector for robots |
| CN201913646U (en) * | 2011-01-07 | 2011-08-03 | 湖北大工机电有限公司 | Automatic switching device between industrial robot and tools |
| CN102897303A (en) * | 2012-10-22 | 2013-01-30 | 哈尔滨工程大学 | Underwater electromechanical removal device |
| CN103978497A (en) * | 2014-05-09 | 2014-08-13 | 哈尔滨工程大学 | Hydraulic driving type underwater emergency release device |
| CN106005320A (en) * | 2016-07-01 | 2016-10-12 | 中国南方电网有限责任公司调峰调频发电公司 | Device for releasing umbilical cable connected to underwater robot |
-
2017
- 2017-08-08 CN CN201710670062.7A patent/CN107351125B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2107359U (en) * | 1991-12-10 | 1992-06-17 | 上海交通大学 | Piston plug type tool automatic changing device |
| WO2009059440A1 (en) * | 2007-11-07 | 2009-05-14 | Multi-Holding Ag | Plug and plug connector for robots |
| CN201913646U (en) * | 2011-01-07 | 2011-08-03 | 湖北大工机电有限公司 | Automatic switching device between industrial robot and tools |
| CN102897303A (en) * | 2012-10-22 | 2013-01-30 | 哈尔滨工程大学 | Underwater electromechanical removal device |
| CN103978497A (en) * | 2014-05-09 | 2014-08-13 | 哈尔滨工程大学 | Hydraulic driving type underwater emergency release device |
| CN106005320A (en) * | 2016-07-01 | 2016-10-12 | 中国南方电网有限责任公司调峰调频发电公司 | Device for releasing umbilical cable connected to underwater robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113146679A (en) * | 2021-04-20 | 2021-07-23 | 哈尔滨工业大学 | Incomplete-constraint quick butt joint mechanism |
| CN113146679B (en) * | 2021-04-20 | 2022-06-03 | 哈尔滨工业大学 | Incomplete-constraint quick butt joint mechanism |
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| Publication number | Publication date |
|---|---|
| CN107351125B (en) | 2020-08-04 |
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